Shrimp processing system, processing apparatus and methods

ABSTRACT

A shrimp processing method and system, the system comprising a plurality of clamps, wherein each clamp is configured to hold a shrimp proximate a tail of the shrimp, a plurality of processing stations comprising at least one data collection station capable of collecting data regarding a shrimp held in a clamp and at least one functional station capable of changing the shrimp held in a clamp, a conveying system connecting the plurality of processing stations, the conveying system configured to move the plurality of clamps between the processing stations, and a controller operably connected to the conveying system and the processing stations, the controller configured to operate the conveying system and to selectively activate each processing station.

RELATED APPLICATIONS

This application claims the benefit under 35 U.S.C. § 119 of U.S.Provisional Application Ser. No. 62/971,653, filed 7 Feb. 2020, andtitled SHRIMP PROCESSING SYSTEM, PROCESSING APPARATUS AND METHODS, whichis incorporated herein by reference in its entirety.

FIELD

Shrimp processing systems, processing apparatus used in the processingsystems, and methods are described herein. The processing systems mayinclude one or more of restraint apparatus, measurement apparatus,heading apparatus, peeling apparatus, and shell segment separationapparatus and the methods may include one or more processes performed bythe different apparatus.

BACKGROUND

The processing of shrimp for human consumption can include measurementof shrimp to properly group them according to size (with larger shrimptypically selling for more than smaller shrimp on a weight basis, e.g.,pounds or kilograms). In some instances, that is the only processingperformed, with consumers selecting whole shrimp and performing selectedfurther processing at the time of preparing the shrimp for consumption.

Other shrimp processing may include removing the head of the shrimp(e.g., the carapace), removing the shell segments covering the abdomenand the associated swimmerets (e.g., pleopods), removing the mud vein ofthe shrimp, etc.

In many instances, the processing described above is accomplishedmanually—even for commercial quantities of shrimp. Automated equipmentdesigned to perform some shrimp processing often results in relativelyhigh losses of consumable meat which, in turn, results in reducedrevenue because shrimp is typically sold by weight. For example, peelingand deveining processes may involve slitting the back or dorsal side ofthe abdomen of the shrimp to remove the mud vein and, optionally, theshell segments on the abdomen. Such processing often results in the lossof meat and, therefore, a loss of revenue.

SUMMARY

The shrimp processing systems and methods described herein provide, inone or more embodiments, for the processing of shrimp at one or aplurality of processing stations, with individual shrimp beingtransferred between stations using a conveying system. In one or moreembodiments, the shrimp processing systems may include one or moreprocessing stations configured to perform one or more of the followingfunctions on each shrimp: measurement of individual shrimp, severing themud vein of individual shrimp, heading of individual shrimp, peeling ofindividual shrimp; separating adjacent abdominal shell segments onindividual shrimp, etc.

The shrimp processing systems and methods described herein may address anumber of problems associated with the processing of shrimp for humanconsumption. Although many of the problems associated with shrimpprocessing and the solutions provided by the shrimp processing systemsand methods described herein may be further described below, thoseproblems may include, for example, inability to accurately size and sortshrimp, contamination of meat by viscera located in the carapace, lossof meat during the processing, failure to remove mud veins, etc.

Shrimp processing stations in shrimp processing systems as describedherein may be described as data collection stations or functionalstations. Collection of data regarding the physical characteristics ofshrimp may be performed at processing stations characterized as datacollection stations, while one or more physical characteristics of eachshrimp may be changed at processing stations characterized as functionalstations. One example of a data collection station may include, forexample, a station in which the length, weight, etc. of a shrimp ismeasured/determined. Examples of functional stations may include, forexample, mud vein severing stations, heading stations, peeling stations,shell segment separation stations, etc. The specific order of processingstations may be varied, for example, one or more data collectionstations may be interspersed with one or more functional stations in anyselected shrimp processing systems described herein.

Although processing stations may be identified as “data collectionstations” or “functional stations,” a single processing station may beboth a data collection station and a functional station. For example, itmay be possible to both measure and sever the mud vein of a shrimp at asingle processing station. Many other combinations of data collectionand functional stations are possible in one or more embodiments of theshrimp processing systems and methods described herein.

The shrimp processing systems described herein may also be configured totransport each shrimp between processing stations using a conveyingsystem connecting the processing stations. As used herein, a “conveyingsystem” means a conveying system that is capable of transporting shrimpbetween processing stations without direct human intervention, i.e., theconveying system does not require a human to carry or otherwisetransport the shrimp between processing stations.

One or more embodiments of the shrimp processing systems describedherein may include processing stations arranged serially such that eachshrimp passes through each type of processing station in the system. Insuch a system, the processing stations may or may not be activated aseach shrimp passes through the processing station depending on whetherthe shrimp is to undergo the process performed at that station.

In one or more embodiments of the shrimp processing systems and methodsdescribed herein, individual shrimp may be restrained in a clampconfigured to capture each shrimp proximate its tail. Accurately fixingthe location of each shrimp on a clamp increases the accuracy andefficacy of a variety of processes that may be performed on each shrimp.In particular, accurately fixing the location of each shrimp allows foraccurate measurement of the shrimp and location of various anatomicalfeatures that assist with processing the shrimp including, for example,severing of the mud vein at one or more selected locations, determiningthe size of the shrimp, removing the head of the shrimp (and anyattached anatomical features), removing the shell of the shrimp,removing the pleopods of each shrimp, separating adjacent shell segmentsof each shrimp, etc.

In one or more embodiments of clamps used to restrain shrimp in shrimpprocessing systems and/or methods as described herein, the clamp may beconfigured to force the tail/uropod of the shrimp to fan open, with theopened tail assisting with retention of the shrimp by the clamp. Inparticular, the opened tail may resist removal of the shrimp from theclamp until such removal is desired.

In one or more embodiments of the shrimp processing systems and methodsdescribed herein in which the individual shrimp are measured todetermine their size, the processing systems and methods may involveselectively processing the individual shrimp based on their size and/orsorting the shrimp after processing based on their size. In other words,the shrimp processing systems and methods described herein may allow forselective processing (e.g., peeling, heading, etc.) of shrimp of one ormore sizes, while allowing other shrimp of one or more different sizesto pass through the processing system with the shell and/or head intact.Furthermore, shrimp of different sizes may be automatically sorted basedon the size of the shrimp and, in the case of selective processing,whether those shrimp have been shelled, headed, etc. In still otherembodiments, even shrimp of the same size may be selectively processed(e.g., shelled, headed, etc.) to allow for the sale of either shelled orshell-on as desired.

One type of shrimp processing station described herein may be describedas a severing station in which the mud veins of individual shrimp aresevered at selected locations along the abdomen of the shrimp. Severingthe mud vein may facilitate removal of the mud vein from each shrimpduring, for example, removal of the head/carapace from the abdomen ofthe shrimp, with the mud vein remaining attached to the viscera in thecarapace of the shrimp as the carapace (and its associated anatomicalfeatures) is separated from the abdomen of the shrimp. In shrimpprocessing systems and methods in which the heading is performed by amachine (such as, e.g., the heading stations described herein), severingof the mud vein in each shrimp before heading may facilitate automatedprocessing of the shrimp by providing shrimp that are substantially freeof mud veins. Even in situations in which the heading is not performedby a machine but is, rather, performed manually, severing the mud veinprior to removal of the head of the shrimp may also facilitate removalof the mud vein with the carapace (and its associated anatomicalfeatures) to provide shrimp that are substantially free of mud veins.

As discussed herein, one or more embodiments of the processing systemsand methods described herein may include a processing station in whichthe shrimp are each individually measured to determine their size. Whencombined with a processing station in which the mud veins of individualshrimp are severed, measuring each shrimp prior to the severing mayassist in accurately severing the mud veins at one or more selectedlocations along the abdomens of the shrimp. While shrimp length can beused to determine the weight of the shrimp, shrimp length can alsoprovide the location between selected shell segments on the abdomen ofthe shrimp and/or the location of the junction between the carapace andthe abdomen. The location of the junction between, for example, thefifth and sixth shell segments on the abdomen of the shrimp can begenerally correlated with the overall length of the shrimp. In one ormore embodiments, the mud veins of shrimp may be severed at or near thejunction between the fifth and sixth shell segments (or between therearmost shell segment and an adjacent shell segment located closer tothe carapace of the shrimp for shrimp that have more than six abdominalshell segments). Although severing of the mud vein at other selectedlocations is also possible, the junction between the rearmost andadjacent shell segments (for example, fifth and sixth shell segments)provides for removal of substantially all of the mud vein as thecarapace is removed from the shrimp.

One or more embodiments of the shrimp processing systems describedherein may also include a processing station in the form of a headingstation in which the carapace and the viscera located therein is removedfrom the shrimp. Removal of the carapace using the heading stations andmethods described herein also removes the anatomical features associatedwith the carapace such as, e.g., the short and long antennae, thescaphocerite, chela, rostrum, and many, if not all of the pereiopods.Moreover, the carapace and the viscera located therein are mechanicallyremoved (as opposed to hydrodynamic removal used in some automatedapproaches) in a manner that avoids contamination of the meat by theviscera upon removal. In one or more embodiments of heading stations andmethods described herein, the heading station may operate by determiningthe location of a junction between the carapace and the abdomen of eachshrimp such that no significant portion of meat of the abdomen isremoved along with the carapace.

Further, one or more embodiments of the heading stations and methodsdescribed herein may result in retention of additional meat (sometimesreferred to as neck meat) on the abdomen of the shrimp. That additionalmeat adds to the weight of the shrimp and, therefore, may increaserevenue generated by the sale of shrimp processed using the shrimpprocessing systems and methods described herein.

One or more embodiments of the shrimp processing systems describedherein may also include a processing station in the form of a peelingstation in which the abdominal shell segments are removed from thedorsal side of the abdomen of shrimp (the abdominal somites) as well asremoving the pleopods (swimmerets) along with the pereiopods (walkinglegs) found on the ventral side of the abdomen of shrimp. In one or morealternative embodiments, the peeling station may only remove thepleopods (swimmerets) along with the pereiopods (walking legs) found onthe ventral side of the abdomen of shrimp, leaving the shell segments onthe dorsal side of the abdomen of shrimp intact. Doing so may provideshrimp that better retain flavor and/or firmness during storage,cooking, etc.

One potential advantage of the peeling stations and methods describedherein is that the peeling process can, in one or more embodiments, beperformed on raw shrimp held after harvesting for a significantlyreduced amount of time (e.g., 2 hours or less, 1 hour or less, etc.) ascompared to many peeling processes in which raw shrimp must be heldafter harvesting for relatively long periods of time (e.g., 24 hours ormore) to improve the shell removal process. Holding raw shrimp afterharvest for longer periods of time to improve peeling can, in someinstances, result in loss of salable product due to spoilage, etc. Inaddition, holding raw shrimp after harvesting for longer periods of timeto improve peeling can potentially be detrimental to firmness and flavorof the shrimp.

One or more embodiments of the shrimp processing systems describedherein may include a processing station in the form of a shell segmentseparation station in which adjacent abdominal shell segments on thedorsal side of the abdomen of shrimp are separated. Separation ofadjacent abdominal shell segments on the dorsal side of the abdomen ofshrimp may assist with removal of the abdominal shell segments in, forexample, a peeling station as described herein. In the absence ofseparation of adjacent abdominal shell segments on the dorsal side ofthe abdomen of a shrimp, some peeling processes may result in tearing orincomplete removal of one or more shell segments that are desired to beremoved from the abdomen of a shrimp. In particular, it may beadvantageous to separate the rearmost abdominal shell segment (that is,the shell segment closest to the tail of a shrimp) and the adjacentabdominal shell segment (that is, the shell segment located closer tothe carapace of a shrimp) such that the adjacent abdominal shell segmentand all shell segments located closer to the carapace can be cleanlyremoved without tearing of either the rearmost abdominal shell segmentor the adjacent abdominal shell segment.

Although the processing stations described herein are discussed inconnection with a shrimp processing system that includes two or more ofthe processing stations described herein, it should be understood thateach processing station may, alone, constitute one or more aspects ofthe present invention. In other words, the invention may consistentirely of, in one aspect, a measuring station. In another aspect, theinvention may consist entirely of a mud vein severing station. Inanother aspect, the invention may consist entirely of a heading station.In still another aspect, the invention may consist entirely of a peelingstation. In still another aspect, the invention may consist entirely ofan adjacent abdominal shell separation station. In yet another aspect,the invention may consist entirely of a clamp configured to retain ashrimp. In still other aspects, the invention may consist entirely ofmethods of performing one or more processes on a shrimp, e.g., measuringa shrimp, severing the mud vein of a shrimp at a selected location,heading a shrimp, separating adjacent abdominal shell segments on ashrimp, removing the pleopods and pereiopods found on the ventral sideof the abdomen of a shrimp, peeling a shrimp, sorting shrimp, etc.

In a first aspect, one or more embodiments of a clamp configured torestrain a shrimp as described herein includes: a pair of jawspositioned on a base, wherein the pair of jaws comprises a first jaw anda second jaw facing each other across a clamping axis extending betweenthe first jaw and the second jaw, wherein the first jaw comprises afirst jaw face and the second jaw comprises a second jaw face, whereinthe first jaw face faces the second jaw face along the clamping axis,wherein the first jaw face and the second jaw face define a receivingslot between the first jaw face and the second jaw face, wherein adistance between the first jaw face and the second jaw face across thereceiving slot in a direction aligned with the clamping axis narrowswhen moving away from the base between the first jaw face and the secondjaw face along a compression axis, wherein the compression axis extendsthrough the base between the first jaw face and the second jaw face. Theclamp further includes a spring member operably attached to the firstjaw, the spring member configured to resist movement of the first jawaway from the second jaw along the clamping axis and the spring memberconfigured to resist movement of the first jaw away from the base alonga compression direction aligned with the compression axis, wherein ashrimp located between the pair of jaws is compressed against the basebetween the pair of jaws by the spring member and the first jaw.

In one or more embodiments of a clamp according to the first aspect, theclamp further comprises a body attached to the base, and wherein thespring member comprises an arm extending between the first jaw and thebody, the arm configured to provide a compression force to the first jawin response to movement of the first jaw away from the base in adirection aligned with the compression axis.

In one or more embodiments of a clamp according to the first aspect, theclamp further comprises a body attached to the base, and wherein thespring member comprises an arm extending between the first jaw and thebody, the arm configured to provide a clamping force to the first jaw inresponse to movement of the first jaw away from the second jaw along theclamping axis.

In one or more embodiments of a clamp according to the first aspect, theclamp further comprises a body attached to the base, and wherein thespring member comprises an arm extending between the first jaw and thebody, the arm configured to provide a compression force to the first jawin response to movement of the first jaw away from the base in adirection aligned with the compression axis, and the arm configured toprovide a clamping force to the first jaw in response to movement of thefirst jaw away from the second jaw along the clamping axis.

In one or more embodiments of a clamp according to the first aspect, thefirst jaw is configured to rotate about a first rotation axis extendingbetween the first jaw and the base when a shrimp is located between thefirst jaw face and the second jaw face, and wherein, optionally, thefirst rotation axis extends through the arm extending between the firstjaw and the body. In one or more embodiments, the first jaw comprises afirst jaw standoff located proximate the first jaw face, wherein thefirst jaw standoff is located between the first jaw face and an outsideportion of the first jaw, wherein the outside portion of the first jawis spaced from the base to provide clearance for rotation of the firstjaw about the first rotation axis.

In one or more embodiments of a clamp according to the first aspect, thespring member operably attached to the first jaw comprises a firstspring member and the clamp comprises a second spring member operablyattached to the second jaw, the second spring member configured toresist movement of the second jaw away from the first jaw along theclamping axis and the second spring member configured to resist movementof the second jaw away from the base along the compression directionaligned with the compression axis, wherein a tail of a shrimp locatedbetween the pair of jaws is forced against the base between the pair ofjaws by the first spring member, the first jaw, the second springmember, and the second jaw. In one or more embodiments, the clampfurther comprises a body attached to the base, and wherein the secondspring member comprises an arm extending between the second first jawand the body, the arm of the second spring member configured to providea compression force to the second jaw in response to movement of thesecond jaw away from the base in a direction aligned with thecompression axis. In one or more embodiments, the clamp furthercomprises a body attached to the base, and wherein the second springmember comprises an arm extending between the second jaw and the body,the arm of the second spring member configured to provide a clampingforce to the second jaw in response to movement of the second jaw awayfrom the first jaw along the clamping axis. In one or more embodiments,the clamp further comprises a body attached to the base, and wherein thesecond spring member comprises an arm extending between the second jawand the body, the arm of the second spring member configured to providea compression force to the second jaw in response to movement of thesecond jaw away from the base in a direction aligned with thecompression axis, and the arm of the second spring member configured toprovide a clamping force to the second jaw in response to movement ofthe second jaw away from the first jaw along the clamping axis.

In one or more embodiments of a clamp according to the first aspect, thesecond jaw is configured to rotate about a second rotation axisextending between the second jaw and the base when a shrimp is locatedbetween the first jaw face and the second jaw face, and wherein,optionally, the second rotation axis extends through the arm extendingbetween the second jaw and the body. In one or more embodiments, thesecond jaw comprises a second jaw standoff located proximate the secondjaw face, wherein the second jaw standoff is located between the secondjaw face and an outside portion of the second jaw, wherein the outsideportion of the second jaw is spaced from the base to provide clearancefor rotation of the second jaw about the second rotation axis.

In one or more embodiments of a clamp according to the first aspect, adistance between the body and the receiving slot in a directiontransverse to the clamping axis is selected to allow the tail of ashrimp captured in the clamp to be positioned between the receiving slotand the body.

In one or more embodiments of a clamp according to the first aspect, adistance between the body and the receiving slot in a directiontransverse to the clamping axis is 4 or more, 6 or more, 8 or more, 10or more times, 14 or more, 16 or more, 18 or more, or 20 or more times aslot width measured at a midpoint between the base and the narrowestportion of the receiving slot as measured along the clamping axisdirection, and, optionally, wherein the distance between the body andthe receiving slot in the direction transverse to the clamping axis is24 or less, 22 or less, 20 or less, 18 or less, or 16 or less times theslot width measured at a midpoint between the base and the narrowestportion of the receiving slot as measured along the clamping axisdirection.

In a second aspect, one or more embodiments of a method of restraining ashrimp as described herein includes: providing a clamp comprising afirst jaw and a second jaw positioned on a base, wherein the first jawfaces the second jaw, and wherein the first jaw and the second jawdefine a receiving slot between the first jaw and the second jaw;inserting a shrimp into the receiving slot between the first and secondjaws such that the tail of the shrimp is located on a clamp side of thefirst and second jaws and the carapace of the shrimp is located on aprocessing side of the first and second jaws; and forcing the tail ofthe shrimp towards the base using the first jaw after inserting theshrimp into the receiving slot between the first and second jaws.

In one or more embodiments of methods of restraining shrimp according tothe second aspect, forcing the tail of the shrimp towards the base usingthe first jaw causes the tail to form a splayed tail fan on the clampside of the first and second jaws.

In one or more embodiments of methods of restraining shrimp according tothe second aspect, forcing the tail of the shrimp towards that baseusing the first jaw comprises applying a persistent compressive force onthe shrimp in a compression direction aligned with a compression axisextend through base and the receiving slot between the first and secondjaws using the first jaw after inserting the shrimp into the receivingslot.

In one or more embodiments of methods of restraining shrimp according tothe second aspect, forcing the tail of the shrimp towards the base usingthe first jaw comprises applying a persistent compressive force on theshrimp in a compression direction aligned with a compression axis extendthrough base and the receiving slot between the first and second jawsusing the second jaw after inserting the shrimp into the receiving slot.

In one or more embodiments of methods of restraining shrimp according tothe second aspect, forcing the tail of the shrimp towards the base usingthe first jaw comprises applying a persistent compressive force on theshrimp in a compression direction aligned with a compression axis extendthrough base and the receiving slot between the first and second jawsusing the first jaw and the second jaw after inserting the shrimp intothe receiving slot.

In one or more embodiments of methods of restraining shrimp according tothe second aspect, the method comprises applying a persistent clampingforce on the shrimp along a clamping direction aligned with a clampingaxis extending through the first and second jaws using the first jawafter inserting the shrimp into the receiving slot.

In one or more embodiments of methods of restraining shrimp according tothe second aspect, the method comprises applying a persistent clampingforce on the shrimp along a clamping direction aligned with a clampingaxis extending through the first and second jaws using the second jawafter inserting the shrimp into the receiving slot.

In one or more embodiments of methods of restraining shrimp according tothe second aspect, the method comprises applying a persistent clampingforce on the shrimp along a clamping direction aligned with a clampingaxis extending through the first and second jaws using the first jaw andthe second jaw after inserting the shrimp into the receiving slot.

In one or more embodiments of methods of restraining shrimp according tothe second aspect, the clamp comprises a body, and wherein the first jawis connected to the body through a first arm, and wherein the first jawrotates about a first rotation axis located above the base extendingbetween the first jaw and the body when inserting a shrimp into thereceiving slot. In one or more embodiments, the second jaw is connectedto the body through a second arm and the second jaw is attached to thebody through a second arm, and wherein the second jaw rotates about asecond rotation axis located above the base and extending between thesecond jaw and the body when inserting a shrimp into the receiving slot.

In a third aspect, one or more embodiments of a mud vein severingapparatus as described herein includes: a vein severing modulecomprising a blade comprising a sharpened working edge and a bladeactuator configured to move the blade between a stored position and asevered position; an optional measurement module configured to measure alength of a shrimp held in a clamp moving through the measurement modulealong a measurement direction; a controller operably connected to theblade actuator and the optional measurement module, wherein thecontroller is configured to: optionally receive a signal indicative ofthe length of the shrimp from the measurement module; and activate theblade actuator to move the blade from the stored position to the severedposition when a shrimp is in a selected severing location, wherein theblade actuator moves the blade along a severing path generallytransverse to the measurement direction.

In a fourth aspect, one or more embodiments of a method of severing amud vein of a shrimp as described herein includes: positioning a shrimpin a selected severing location; and moving a blade through the shrimpalong a severing path oriented generally transverse to a length of theshrimp as measured from a carapace to a tail of the shrimp, wherein theblade passes through a shell of the shrimp at a selected depth proximatea junction between a rearmost abdominal shell segment and an adjacentabdominal shell segment of the shrimp, wherein the rearmost abdominalshell segment is located between the adjacent abdominal shell segmentand the tail of the shrimp.

In a fifth aspect, one or more embodiments of a shrimp heading apparatusas described herein includes: a heading restraint positioned opposite aworking surface; a heading restraint actuator configured to move theheading restraint between a stored position and restraint positionrelative to the working surface, wherein the heading restraint is spacedfrom the working surface to allow for positioning of a shrimp betweenthe heading restraint and the working surface when the heading restraintis in the stored position, and wherein the heading restraint is closerto the working surface when the heading restraint is in the restraintposition than when the heading restraint is in the stored position suchthat the heading restraint is configured to force a shrimp locatedbetween the heading restraint and the working surface against theworking surface when the heading restraint is in the restraint position;a spoon; a spoon actuator configured to move the spoon along a spoonpath between a ready position and finish position relative to theheading restraint, wherein a working portion of the spoon is proximate acarapace side of the heading restraint when the spoon is in the readyposition and wherein the working portion of the spoon is spaced awayfrom the carapace side of the heading restraint when the spoon is in thefinish position such that the working portion of the spoon is configuredto separate a head of a shrimp on the working surface from an abdomen ofthe shrimp when the spoon moves from the ready position to the finishposition; and a controller operably connected to the heading restraintactuator and the spoon actuator, the controller configured to: operatethe heading restraint actuator to move the heading restraint from thestored position to the restraint position, operate the spoon actuator tomove the spoon along the spoon path from the ready position to thefinish position after operating the head restraint actuator to move theheading restraint to the restraint position, and operate the headingrestraint actuator to return the heading restraint to the storedposition after operating the spoon actuator to move the spoon to thefinish position.

In a sixth aspect, one or more embodiments of a method of removing ahead of a shrimp, the method comprising: restraining an abdomen of ashrimp in a fixed position on a working surface; moving a spoon throughthe shrimp proximate a carapace junction of the shrimp, wherein thecarapace junction is located between a carapace and a first abdominalsegment of the shrimp; and moving the spoon away from the abdomen whilerestraining the abdomen of the shrimp in the fixed position on theworking surface, wherein moving the spoon away from the abdomenseparates the carapace of the shrimp from the abdomen of the shrimp.

In a seventh aspect, one or more embodiments of a shrimp peelingapparatus as described herein includes: a lower roller assemblycomprising a first lower roller, a second lower roller, and a lowerroller assembly drive operably connected to the first and second lowerrollers, wherein the lower roller assembly drive is configured to rotatethe first lower roller about a first lower roller axis and rotate thesecond lower roller about the second lower roller axis, wherein thefirst lower roller axis is aligned with the second lower roller axis; anupper roller assembly comprising a first upper roller, a second upperroller, and an upper roller assembly drive operably connected to thefirst and second upper rollers, wherein the upper roller assembly driveis configured to rotate the first upper roller about a first upperroller axis and rotate the second upper roller about the second upperroller axis, wherein the first upper roller axis is aligned with thesecond upper roller axis, and wherein the first upper roller extendsfrom a tail end to a head end along the first upper roller axis, andfurther wherein the second upper roller extends from a tail end to ahead end along the second upper roller axis; a roller shuttle configuredto move one or both of the lower roller assembly and the upper rollerassembly between a receiving position and an operating position, whereinthe lower roller assembly and the upper roller assembly are locatedfarther from each other in a direction transverse to the first lowerroller axis and the first upper roller axis when the lower rollerassembly and the upper roller assembly are in the receiving positionthan when the lower roller assembly and the upper roller assembly are inthe operating position; and a controller operably connected to the lowerroller assembly drive, upper roller assembly drive, and the rollershuttle, the controller configured to: operate the roller shuttle tomove one or both of the lower roller assembly and the upper rollerassembly between the receiving position and the operating position;operate the lower roller assembly drive to rotate the first lower rollerabout the first lower roller axis over a first capture arc and rotatethe second lower roller about the second lower roller axis over a secondcapture arc, wherein the first lower roller and second lower rollerrotate in opposite directions over their respective capture arcs;operate the roller shuttle to move the lower roller assembly and theupper roller assembly from the receiving position to the operatingposition after rotating the first lower roller and second lower rollerin opposite directions over their respective capture arcs; operate theupper roller assembly drive to rotate the first upper roller about thefirst upper roller axis over a first peeling arc and rotate the secondupper roller about the second lower roller axis over a second peelingarc, wherein the first upper roller and the second upper roller rotatein opposite directions over their respective peeling arcs after theroller shuttle moves the lower roller assembly and the upper rollerassembly from the receiving position to the operating position; andoperate the lower roller assembly drive to rotate the first lower rollerabout the first lower roller axis over a first removal arc and rotatethe second lower roller about the second lower roller axis over a secondremoval arc, wherein the first lower roller and the second lower rollerrotate in opposite directions over their respective removal arcs whilethe lower roller assembly and the upper roller assembly are in theoperating position; wherein the controller is configured to operateupper roller assembly drive to rotate the upper first and second upperrollers in opposite directions over their respective peeling arcs whileoperating the lower roller assembly drive to rotate the first and secondlower rollers in opposite directions over their respective removal arcs.

In an eighth aspect, one or more embodiments of a shrimp processingapparatus in the form of peeling apparatus configured to remove pleopodsand/or swimmerets from shrimp as described herein includes: a lowerroller assembly comprising a first lower roller, a second lower roller,and a lower roller assembly drive operably connected to the first andsecond lower rollers, wherein the lower roller assembly drive isconfigured to rotate the first lower roller about a first lower rolleraxis and rotate the second lower roller about the second lower rolleraxis, wherein the first lower roller axis is aligned with the secondlower roller axis; an upper assembly; a roller shuttle configured tomove one or both of the lower roller assembly and the upper assemblybetween a receiving position and an operating position, wherein thelower roller assembly and the upper assembly are located farther fromeach other in a direction transverse to the first lower roller axis andthe first upper roller axis when the lower roller assembly and the upperassembly are in the receiving position than when the lower rollerassembly and the upper assembly are in the operating position; and acontroller operably connected to the lower roller assembly drive and theroller shuttle, the controller configured to: operate the roller shuttleto move one or both of the lower roller assembly and the upper assemblybetween the receiving position and the operating position; operate thelower roller assembly drive to rotate the first lower roller about thefirst lower roller axis over a first capture arc and rotate the secondlower roller about the second lower roller axis over a second capturearc, wherein the first lower roller and second lower roller rotate inopposite directions over their respective capture arcs; operate theroller shuttle to move the lower roller assembly and the upper assemblyfrom the receiving position to the operating position after rotating thefirst lower roller and second lower roller in opposite directions overtheir respective capture arcs; and operate the lower roller assemblydrive to rotate the first lower roller about the first lower roller axisover a first removal arc and rotate the second lower roller about thesecond lower roller axis over a second removal arc, wherein the firstlower roller and the second lower roller rotate in opposite directionsover their respective removal arcs while the lower roller assembly andthe upper assembly are in the operating position.

In a ninth aspect, one or more embodiments of a method of peeling ashrimp as described herein may include: capturing at least one pleopodattached to an abdomen of a shrimp between a first lower roller and asecond lower roller by rotating each of the first and second lowerrollers over a capture arc, wherein the first and second lower rollersare rotated in opposite directions; contacting the abdominal shellsegments of the shrimp with a first upper roller and a second upperroller after rotating the first and second lower rollers over theirrespective capture arcs; rotating the first upper roller over a firstpeeling arc and rotating the second upper roller over a second peelingarc, wherein the first and second upper rollers are rotated in oppositedirections over their respective peeling arcs; and rotating the firstlower roller over a first removal arc and rotating the second lowerroller over a second removal arc, wherein the first lower roller and thesecond lower roller rotate in opposite directions over their respectiveremoval arcs; wherein, after contacting the abdominal shell segments ofthe shrimp with a first upper roller and a second upper roller, themethod comprises rotating the first and second upper rollers over theirrespective peeling arcs while rotating the first and second lowerrollers over their respective removal arcs.

In a tenth aspect, one or more embodiments of a method of peeling ashrimp to remove only its pleopods and/or swimmerets as described hereinmay include: capturing a plurality of pleopods attached to an abdomen ofa shrimp between a first lower roller and a second lower roller byrotating each of the first and second lower rollers over a capture arc,wherein the first and second lower rollers are rotated in oppositedirections; contacting the abdominal shell segments of the shrimp withan upper assembly after rotating the first and second lower rollers overtheir respective capture arcs; and rotating the first lower roller overa first removal arc and rotating the second lower roller over a secondremoval arc after contacting the abdominal shell segments of the shrimpwith the upper assembly, wherein the first lower roller and the secondlower roller rotate in opposite directions over their respective removalarcs.

In an eleventh aspect, one or more embodiments of a shell segmentseparator apparatus as described herein may include: a first shellsegment retainer positioned opposite a working surface; a second shellsegment retainer positioned opposite the working surface; a firstretainer actuator operably connected to the first shell segment retainerand configured to move the first shell segment retainer from a readyconfiguration to a retention configuration, wherein the first shellsegment retainer is configured to allow for positioning of a shrimpbetween the first shell segment retainer and the working surface whenthe first shell segment retainer is in the ready configuration, andwherein the first shell segment retainer is configured to retain a firstshell segment of a shrimp located between first shell segment retainerand the working surface in a selected location on the working surfacewhen the first shell segment retainer is in the retention configuration;a second retainer actuator operably connected to the second shellsegment retainer and configured to move the second shell segmentretainer from a ready configuration to a retention configuration,wherein the second shell segment retainer is configured to allow forpositioning of a shrimp between the second shell segment retainer andthe working surface when the second shell segment retainer is in theready configuration, and wherein the second shell segment retainer isconfigured to retain a second shell segment of a shrimp located betweensecond shell segment retainer and the working surface in a selectedlocation relative to the second shell segment retainer when the secondshell segment retainer is in the retention configuration; a separationactuator operably connected to the second shell segment retainer, theseparation actuator configured to move one or both of the first shellsegment retainer and the second shell segment retainer between aninitial position and a separation position relative to each other,wherein the second shell segment retainer is located further away fromthe first shell segment retainer when the first shell segment retainerand the second shell segment retainer are in the separation positionthan when the first shell segment retainer and the second shell segmentretainer are in the initial position, wherein one or both of the firstshell segment retainer and the second shell segment retainer move alonga processing axis when moving between the initial position and theseparation position; and a controller operably connected to the firstretainer actuator, the second retainer actuator, and the separationactuator, wherein the controller is configured to: operate the firstretainer actuator to move the first shell segment retainer from theready configuration to the retention configuration; operate the secondretainer actuator to move the second shell segment retainer from theready configuration to the retention configuration; and operate theseparation actuator to move one or both of the first shell segmentretainer and the second shell segment retainer such that the first shellsegment retainer and the second shell segment retainer move from theinitial position to the separation position after operating the firstretainer actuator to move the first shell segment retainer from theready configuration to the retention configuration and after operatingthe second retainer actuator to move the second shell segment retainerfrom the ready configuration to the retention configuration.

In a twelfth aspect, one or more embodiments of a method of separatingadjacent shell segments on an abdomen of a shrimp as described hereinmay include: retaining a first shell segment on an abdomen of a shrimp,wherein the first shell segment is optionally retained in a fixedlocation relative to a processing axis, and wherein the abdomen of theshrimp is aligned with the processing axis; and moving a second shellsegment on the abdomen of the shrimp away from the first shell segmentin a direction aligned with the processing axis while, optionally,retaining the first shell segment in the fixed location, wherein thesecond shell segment is adjacent the first shell segment; wherein thefirst shell segment and the second shell segment remain attached to theabdomen of the shrimp after moving the second shell segment away fromthe first shell segment.

In a thirteenth aspect, one or more embodiments of a shrimp processingsystem as described herein may include: a plurality of clamps, whereineach clamp of the plurality of clamps is configured to hold a shrimpproximate a tail of the shrimp; a plurality of processing stationscomprising at least one data collection station capable of collectingdata regarding a shrimp held in each clamp of the plurality of clampsand at least one functional station capable of changing the shrimp heldin each clamp of the plurality of clamps; a conveying system connectingthe plurality of processing stations, the conveying system configured tomove the plurality of clamps between the plurality of processingstations; and a controller operably connected to the conveying systemand the plurality of processing stations, the controller configured to:operate the conveying system such that the plurality of clamps are movedthrough the plurality of processing stations; and selectively activateeach processing station of the plurality of processing stations.

In one or more embodiments of the shrimp processing systems describedherein, the plurality of clamps are magnetically attached to theconveying system.

In one or more embodiments of the shrimp processing systems describedherein, the conveying system comprises a plurality of clamp mounts,wherein the plurality of clamps are attached to the conveying systemthrough the plurality of clamp mounts. In one or more embodiments, twoor more clamps of the plurality of clamps are attached to each clampmount of the plurality of clamp mounts.

In one or more embodiments of the shrimp processing systems describedherein, the clamp mounts are magnetically attached to the conveyingsystem.

In one or more embodiments of the shrimp processing systems describedherein, the conveying system comprises a plurality of mounting bosses,wherein each clamp mount comprises one or more blocks, wherein eachblock is configured to attach to one mounting boss of the plurality ofmounting bosses. In one or more embodiments, the mounting boss and theblock of one or more attached pairs of mounting bosses and blocks eachcomprise a pair of permanent magnets, wherein the pairs of permanentmagnets in the mounting boss and the attached block form closed magneticfields. In one or more embodiments, the mounting boss and the block ofone or more attached pairs of mounting bosses and blocks are attached toeach other using one or more of: mechanical fasteners, adhesives, andinterlocking mechanical connections.

In one or more embodiments of the shrimp processing systems describedherein, the conveying system comprises one or more belts extendingbetween the plurality of processing stations, wherein the one or morebelts moved through the plurality of processing stations along aconveying direction, and wherein the plurality of mounting bosses areattached to the one or more belts, and further wherein the plurality ofmounting bosses are cantilevered over the one or more belts to which theplurality of mounting bosses are attached. In one or more embodiments,the plurality of mounting bosses cantilevered over the one or more beltsto which the plurality of mounting bosses are attached are cantileveredover the one or more belts along their leading edges as defined by theconveying direction.

In one or more embodiments of the shrimp processing systems describedherein, the plurality of mounting bosses cantilevered over the one ormore belts to which the plurality of mounting bosses are attached arecantilevered over the one or more belts along their trailing edges asdefined by the conveying direction.

In one or more embodiments of the shrimp processing systems describedherein, the conveying system advances the plurality of clamps from aloading end to an ejection end, and wherein the conveying systemcomprises an ejection station at the ejection end, the ejection stationconfigured to eject shrimp held in the plurality of clamps from theplurality of clamps.

In one or more embodiments of the shrimp processing systems describedherein, the ejection station comprises a plurality plungers, whereineach plunger of the plurality of plungers comprises a retracted positionan ejection position, and wherein movement of the plunger from theretracted position to the ejection position in the presence of a shrimpheld in a clamp at the ejection station forces the shrimp from theclamp. In one or more embodiments, the plunger is configured to act onan abdominal segment adjacent the clamp.

In one or more embodiments of the shrimp processing systems describedherein, each clamp of the plurality of clamps comprises: a pair of jawspositioned on a base, wherein the pair of jaws comprises a first jaw anda second jaw facing each other across a clamping axis extending betweenthe first jaw and the second jaw, wherein the first jaw comprises afirst jaw face and the second jaw comprises a second jaw face, whereinthe first jaw face faces the second jaw face along the clamping axis,wherein the first jaw face and the second jaw face define a receivingslot between the first jaw face and the second jaw face, wherein adistance between the first jaw face and the second jaw face across thereceiving slot in a direction aligned with the clamping axis narrowswhen moving away from the base between the first jaw face and the secondjaw face along a compression axis, wherein the compression axis extendsthrough the base between the first jaw face and the second jaw face; anda spring member operably attached to the first jaw, the spring memberconfigured to resist movement of the first jaw away from the second jawalong the clamping axis and the spring member configured to resistmovement of the first jaw away from the base along a compressiondirection aligned with the compression axis, wherein a shrimp locatedbetween the pair of jaws is compressed against the base between the pairof jaws by the spring member and the first jaw.

In one or more embodiments of the shrimp processing systems describedherein, a data collection station of the plurality of processingstations comprises a measurement station configured to measure a lengthof a shrimp held in each clamp of the plurality of clamps.

In one or more embodiments of the shrimp processing systems describedherein, a functional station of the plurality of processing stationscomprises a mud vein severing apparatus configured to sever a mud veinof a shrimp.

In one or more embodiments of the shrimp processing systems describedherein, a functional station of the plurality of processing stationscomprises a heading apparatus configured to remove a head of a shrimp.

In one or more embodiments of the shrimp processing systems describedherein, a functional station of the plurality of processing stationscomprises a peeling apparatus configured to remove a shell of a shrimp.

In one or more embodiments of the shrimp processing systems describedherein, a functional station of the plurality of processing stationscomprises a shell segment separator apparatus configured to separate apair of adjacent shell segments of a shrimp.

In one or more embodiments of the shrimp processing systems describedherein, the plurality of processing stations comprises two or functionalstations selected from the group of: a mud vein severing apparatusconfigured to sever a mud vein of a shrimp, a heading apparatusconfigured to remove a head of a shrimp, a peeling apparatus configuredto remove a shell of a shrimp, and a shell segment separator apparatusconfigured to separate a pair of adjacent shell segments of a shrimp.

In one or more embodiments of the shrimp processing systems describedherein, the at least one data collection station comprises a measurementmodule configured to measure a length of a shrimp held in a clamp of theplurality of clamps moving through the measurement module along ameasurement direction, the measurement module comprising a non-contactsensor configured to detect the clamp and a shrimp held in the clamp,the non-contact sensor operably connected to the controller to deliversignals indicative of energy received by the non-contact sensor, whereinthe controller is further configured to: identify a junction between aclamp and a shrimp held in the clamp when moving a shrimp held in theclamp through the non-contact sensor based on a signal received from thenon-contact sensor; determine a length of a shrimp held in a clamp afteridentifying the junction between a clamp and a shrimp held in a clampbased at least in part on a signal received from the non-contact sensor;and optionally, determine a weight of a shrimp held in a clamp afterdetermining the length of a shrimp held in a clamp based at least inpart on the length of a shrimp held in a clamp. In one or moreembodiments, the controller is configured to identify a junction betweena clamp and a shrimp when the signal received from the non-contactsensor reaches or falls below a selected clamp threshold value.

In one or more embodiments of the shrimp processing systems describedherein, the controller is configured to determine a length of a shrimpwhen the signal received from the non-contact sensor reaches or exceedsa selected antenna threshold value.

In one or more embodiments of the shrimp processing systems describedherein, the non-contact sensor comprises an optical sensor or anultrasonic sensor.

In one or more embodiments of the shrimp processing systems describedherein, the controller is configured to operate the non-contact sensorto calibrate the non-contact sensor before every shrimp held in a clamppasses through the non-contact sensor in the measurement direction.

In one or more embodiments of the shrimp processing systems describedherein, the controller is configured to operate the non-contact sensorto calibrate the non-contact sensor after a selected number of shrimpheld in a clamp pass through the non-contact sensor in the measurementdirection.

In one or more embodiments of the shrimp processing systems describedherein, the controller comprises a central controller controlling theconveying system and the plurality of processing stations.

In a fourteenth aspect, one or more embodiments of a method ofprocessing shrimp as described herein may include: loading individualshrimp into each clamp of a plurality of clamps to provide a pluralityof loaded clamps, wherein each loaded clamp restrains only oneindividual shrimp at a time; transporting each loaded clamp between aplurality of processing stations using a conveying system connecting theplurality of processing stations; collecting data on each shrimp in theplurality of loaded clamps in at least one processing station of theplurality of processing stations; and performing one or more actions oneach shrimp in the plurality of loaded clamps in at least one processingstation of the plurality of processing stations.

In one or more embodiments of methods of processing shrimp as describedherein, the method comprises: loading individual shrimp into each clampof a plurality of clamps to provide a plurality of loaded clamps,wherein each loaded clamp restrains only one individual shrimp at atime; transporting each loaded clamp between a plurality of processingstations using a conveying system connecting the plurality of processingstations; collecting data on each shrimp in the plurality of loadedclamps in at least one processing station of the plurality of processingstations; and performing one or more actions on each shrimp in theplurality of loaded clamps in at least one processing station of theplurality of processing stations.

In one or more embodiments of methods of processing shrimp as describedherein, the plurality of clamps are arranged in groups of two or moreclamps on the conveying system, wherein transporting each loaded clampbetween the plurality of processing stations comprises simultaneouslytransporting the groups of two or more clamps between the plurality ofprocessing stations.

In one or more embodiments of methods of processing shrimp as describedherein, the plurality of processing stations are arranged in groups oftwo or more processing stations, wherein the method comprises:transporting the groups of two or more clamps between the groups of twoor more processing stations; collecting data on the shrimp in each groupof two or more clamps at each group of two more processing stationsconfigured to collect data before transporting each group of two or moreclamps out of the group of two or more processing stations; andperforming one or more actions on the shrimp in each group of two ormore clamps at each group of two or more processing stations configuredto perform one or more actions before transporting each group of two ormore clamps out of the group of two or more processing stationsconfigured to perform one or more actions.

In one or more embodiments of methods of processing shrimp as describedherein, collecting data comprises measuring a length of each shrimp and,optionally, assigning a weight to each shrimp based at least in part onthe length of each shrimp. In one or more embodiments, measuring thelength of each shrimp comprises measuring the length of each shrimpaccording to any one of the methods of measuring shrimp as describedherein.

In one or more embodiments of methods of processing shrimp as describedherein, performing one or more actions on each shrimp comprises severinga mud vein at a selected location on each shrimp, wherein the methodcomprises identifying the selected location based at least in part onthe length of each shrimp.

In one or more embodiments of methods of processing shrimp as describedherein, performing one or more actions on each shrimp comprises severinga mud vein at a selected location on each shrimp.

In one or more embodiments of methods of processing shrimp as describedherein, performing one or more actions on each shrimp comprises removinga head from each shrimp.

In one or more embodiments of methods of processing shrimp as describedherein, performing one or more actions on each shrimp comprises severinga mud vein on each shrimp proximate a tail of the shrimp before removingthe head from each shrimp.

In one or more embodiments of methods of processing shrimp as describedherein, performing one or more actions on each shrimp comprises severinga mud vein on each shrimp proximate a tail of the shrimp and,optionally, removing a head from each shrimp after severing the mudvein.

In one or more embodiments of methods of processing shrimp as describedherein, the method comprises identifying a carapace junction between thecarapace and the abdomen of each shrimp before removing the head fromeach shrimp. In one or more embodiments, identifying the carapacejunction and removing the head of the shrimp are performed at a singleprocessing station.

In one or more embodiments of methods of processing shrimp as describedherein, performing one or more actions on each shrimp comprises removingabdominal shell segments from each shrimp.

In one or more embodiments of methods of processing shrimp as describedherein, performing one or more actions on each shrimp comprises removingone or more pleopods from each shrimp.

In one or more embodiments of methods of processing shrimp as describedherein, performing one or more actions on each shrimp comprisessimultaneously removing abdominal shell segments and one or morepleopods from each shrimp.

In a fifteenth aspect, one or more embodiments of a method of measuringshrimp held in a clamp comprise: moving a shrimp held in a clamp througha non-contact sensor along a measurement direction; identifying ajunction between the clamp and the shrimp when moving a shrimp held inthe clamp based on a signal received from the non-contact sensor;determining a length of the shrimp held in the clamp after identifyingthe junction between a clamp and a shrimp held in a clamp based at leastin part on a signal received from the non-contact sensor as the shrimppasses through the non-contact sensor; and optionally, determining aweight of the shrimp held in the clamp after determining the length ofthe shrimp, the weight being based at least in part on the length of theshrimp.

In one or more embodiments of methods of measuring shrimp according tothe fifteenth aspect, the junction between the clamp and the shrimpcomprises determining when the signal received from the non-contactsensor reaches or falls below a selected clamp threshold value.

In one or more embodiments of methods of measuring shrimp according tothe fifteenth aspect, determining the length of the shrimp comprisesdetermining when the signal received from the non-contact sensor reachesor exceeds a selected antenna threshold value indicting that at leastone antenna of the shrimp is passing through the non-contact sensor.

In one or more embodiments of methods of measuring shrimp according tothe fifteenth aspect, the non-contact sensor comprises an optical sensoror an ultrasonic sensor.

In one or more embodiments of methods of measuring shrimp according tothe fifteenth aspect, the method further comprises calibrating thenon-contact sensor before every shrimp held in a clamp passes throughthe non-contact sensor in the measurement direction.

In one or more embodiments of methods of measuring shrimp according tothe fifteenth aspect, the method further comprises calibrating thenon-contact sensor after a selected number of the shrimp pass throughthe non-contact sensor in the measurement direction.

In a sixteenth aspect, one or more embodiments of a clamp configured torestrain a shrimp as described herein may include: a pair of jawspositioned on a base, wherein the pair of jaws comprises a first jaw anda second jaw facing each other across a clamping direction; wherein thefirst jaw comprises a first jaw face and the second jaw comprises asecond jaw face, wherein the first jaw face faces the second jaw faceacross the clamping direction; wherein the first jaw face and the secondjaw face define a receiving slot between the first jaw face and thesecond jaw face, wherein a distance between the first jaw face and thesecond jaw face in the clamping direction narrows when moving away fromthe base between the first jaw face and the second jaw face in acompression direction transverse to the clamping direction; biasingmeans operably attached to the pair of jaws, the biasing means resistingmovement of the first jaw away from the second jaw along the clampingdirection and the biasing means resisting movement of the first jaw awayfrom the base along the compression direction, wherein a tail of ashrimp located between the pair of jaws is compressed against the basebetween the pair of jaws by the first jaw.

In a seventeenth aspect, one or more embodiments of a clamp configuredto restrain a shrimp as described herein may include: a pair of jawspositioned on a base, wherein the pair of jaws comprises a first jaw anda second jaw facing each other across a clamping direction; wherein thefirst jaw and the second jaw define a receiving slot between the firstjaw and the second jaw, wherein a width of the receiving slot in theclamping direction narrows when moving away from the base between thefirst jaw and the second jaw in a compression direction transverse tothe clamping direction; wherein the clamp is configured to apply aclamping force and a compression force to a tail of a shrimp locatedbetween the pair of jaws, wherein the clamping force acts in theclamping direction and wherein the compression force urges the tailtowards the base.

As used herein, the term “shrimp” should be construed to refer tocrustaceans harvested for human consumption that are referred to aseither shrimp or prawns in, for example, the sub-orders Pieocyemata(Shrimp) and Dendrobranchiata (Prawns). Further, because the physicalcharacteristics of shrimp capable of being processed using the shrimpprocessing systems and methods described herein can vary widely, anydimensions discussed herein are provided only as a general guide andfurther refinement of any such dimensions may be required to optimizeoperation of the shrimp processing systems and methods described hereinbased on for example, the size, species, and/or general conditions ofshrimp being processed.

If used herein, relational terms such as above, below, top, bottom, etc.are (unless otherwise specified in this description and/or the claims)used only to facilitate description of the various features of theshrimp processing systems and methods described herein and should not beconstrued to require any specific orientation of the shrimp processingsystems, the shrimp being processed by the systems, and/or the methodsdescribed herein.

If used herein, the term “substantially” has the same meaning as“significantly,” and can be understood to modify the term that followsby at least about 75%, at least about 90%, at least about 95%, or atleast about 98%. The term “not substantially” as used herein has thesame meaning as “not significantly,” and can be understood to have theinverse meaning of “substantially,” i.e., modifying the term thatfollows by not more than 25%, not more than 10%, not more than 5%, ornot more than 2%.

Numeric values used herein include normal variations in measurements asexpected by persons skilled in the art and should be understood to havethe same meaning as “approximately” and to cover a typical margin oferror, such as ±5% of the stated value.

Terms such as “a,” “an,” and “the” are not intended to refer to only asingular entity but include the general class of which a specificexample may be used for illustration.

The terms “a,” “an,” and “the” are used interchangeably with the term“at least one.” The phrases “at least one of” and “comprises at leastone of” followed by a list refers to any one of the items in the listand any combination of two or more items in the list.

As used here, the term “or” is generally employed in its usual senseincluding “and/or” unless the content clearly dictates otherwise. Theterm “and/or” means one or all of the listed elements or a combinationof any two or more of the listed elements.

The recitations of numerical ranges by endpoints include all numberssubsumed within that range (e.g., 1 to 5 includes 1, 1.5, 2, 2.75, 3,3.80, 4, 5, etc. or 10 or less includes 10, 9.4, 7.6, 5, 4.3, 2.9, 1.62,0.3, etc.). Where a range of values is “up to” or “at least” aparticular value, that value is included within the range.

The words “preferred” and “preferably” refer to embodiments that mayafford certain benefits, under certain circumstances. However, otherembodiments may also be preferred, under the same or othercircumstances. Furthermore, the recitation of one or more preferredembodiments does not imply that other embodiments are not useful and isnot intended to exclude other embodiments from the scope of thedisclosure, including the claims.

The above summary of the invention is not intended to describe eachembodiment or every implementation of the shrimp processing systems,processing stations, and methods described herein. Rather, a morecomplete understanding of the invention will become apparent andappreciated by reference to the following description of illustrativeembodiments and claims in view of the accompanying figures of thedrawing.

BRIEF DESCRIPTION OF THE DRAWING

FIG. 1A is a block diagram of one illustrative embodiment of a shrimpprocessing system as described herein.

FIG. 1B is a perspective view of one illustrative embodiment of anunloading station that may be used to unload or eject shrimp that havebeen processed in the shrimp processing systems described herein.

FIG. 1C is a side view of the unloading station depicted in FIG. 1Bafter ejection/unloading of a shrimp from a clamp as described herein.

FIG. 2 is a block diagram of a control system that may be implemented inone illustrative embodiment of a shrimp processing system as describedherein.

FIG. 3 depicts one illustrative embodiment of a shrimp that may beprocessed using one or more embodiments of the shrimp processing systemsand methods as described herein.

FIG. 4 is a perspective view of one illustrative embodiment of a clampthat may be used to restrain shrimp as described herein.

FIG. 5 is an enlarged front view of the clamp of FIG. 4 in a directiontransverse to both axes 121 and 123.

FIG. 6 is a top plan view of the clamp of FIG. 4 with a shrimp retainedtherein.

FIG. 7 is a perspective view of one portion of a shrimp processingsystem including illustrative embodiments of clamps mounted onillustrative embodiments of clamp mounts that are, in turn, attached toillustrative embodiments of conveying elements of a conveying system tofacilitate movement of shrimp through a processing system according tothe methods described herein.

FIG. 8 is an exploded diagram depicting one illustrative embodiment ofstructures used to attach clamp mounts to conveying elements in one ormore embodiments of shrimp processing systems as described herein.

FIG. 9 is an enlarged view of the structures of FIG. 8 after assemblywith portions of the structures depicted as being transparent to allowvisualization of components located therein.

FIG. 10 is an enlarged cross-sectional view of FIG. 9 taken along line10-10 in FIG. 9 .

FIG. 11 depicts shrimp retained in clamps on a clamp mount as depictedin FIGS. 7-10 .

FIGS. 12-13 depict one alternative embodiment of a clamp and clamp mountsystem that may be used in connection with the processing systems andmethods described herein.

FIG. 14 depicts another alternative embodiment of a clamp and clampmount system that may be used in connection with the processing systemsand methods described herein.

FIG. 15 is a block diagram of a control system that may be implementedin one illustrative embodiment of an integrated measurement and mud veinsevering apparatus used in one or more shrimp processing systems asdescribed herein.

FIGS. 16-21 depict various views of one illustrative embodiment of a mudvein severing apparatus as described herein.

FIG. 22 depicts one illustrative embodiment of a blade that may be usedin one or more embodiments of a mud vein severing apparatus as describedherein.

FIG. 23 depicts the severing restraint of the mud vein severingapparatus depicted in FIGS. 16-21 in position on a larger shrimp (withthe shrimp being depicted in a cross-sectional view).

FIG. 24 depicts the severing restraint of the mud vein severingapparatus depicted in FIG. 23 in position on a smaller shrimp (with theshrimp also being depicted in a cross-sectional view).

FIG. 25A depicts one illustrative embodiment of a severing restraintthat may be used in one or more embodiments of a mud vein severingapparatus as described herein.

FIG. 25B is a cross-sectional view of the severing restraint of FIG. 25Ataken along line 25B-25B in FIG. 25A.

FIG. 25C is an enlarged cross-sectional view of the severing restraintof FIG. 25A taken along line 25C-25C coextensive with axis 253 in FIG.25A.

FIG. 25D is a side view depicting the severing restraint of FIG. 25A inposition on a larger shrimp.

FIG. 25E is a side view depicting the severing restraint of FIG. 25A inposition in a smaller shrimp to illustrate the effect of the beveledsurface of the notch on larger and smaller shrimp as discussed herein.

FIG. 26 is a perspective view of one illustrative embodiment of ameasurement module that may be used in one or more embodiments of ashrimp processing system as described herein.

FIG. 27 is an enlarged view of a portion of the measurement moduledepicted in FIG. 26 .

FIG. 28 is a perspective view of one illustrative embodiment of ameasurement module that may be used in one or more embodiments of ashrimp processing system as described herein.

FIG. 29 is an enlarged view of a portion of the measurement moduledepicted in FIG. 28 .

FIG. 30 depicts the measurement module of FIGS. 26-29 in a viewillustrating the distribution of energy between an emitter and receiverin the depicted illustrative embodiment of a measurement module used ina shrimp processing system as described herein.

FIGS. 31-33 depict stages in one illustrative embodiment of heading of ashrimp as described herein.

FIG. 34 is a schematic block diagram of components in one illustrativeembodiment of a shrimp heading apparatus as described herein.

FIG. 35 is a perspective view of one illustrative embodiment of a shrimpheading apparatus as described herein.

FIGS. 36-37 are enlarged views of portions of the shrimp headingapparatus depicted in FIG. 35 .

FIG. 38 is an opposite side perspective view of the shrimp headingapparatus of FIG. 35 with a portion of the shuttle removed to exposecomponents located within the shuttle of the shrimp heading apparatus.

FIGS. 39-41 depict one illustrative embodiment of a heading restraintthat may be used in one or more embodiments of a shrimp headingapparatus as described herein.

FIG. 42 is an enlarged view of one illustrative embodiment of a spoonused in one or more embodiments of a heading apparatus as describedherein.

FIG. 43 is an enlarged view of a portion of the spoon depicted in FIG.42 located within a guide on a heading restraint used in one or moreembodiments of a heading apparatus as described herein.

FIGS. 44-45 depict one illustrative embodiment of a heading apparatus inuse to identify the location of a carapace junction on a shrimp as partof a heading process as described herein.

FIGS. 46-47 depict one illustrative embodiment of a heading apparatus inuse to remove the carapace from a shrimp as a part of a heading processas described herein.

FIGS. 48-49 depict one illustrative embodiment of a damped actuator thatmay be used to move one or more embodiments of a spoon in one or moreembodiments of a heading apparatus as described herein.

FIG. 49A is a perspective view of a portion of the damped actuator ofactuator of FIGS. 48-49 .

FIG. 50 depicts a variety of shrimp after a heading process.

FIGS. 51-52 are schematic diagrams of one illustrative embodiment of apeeling apparatus that may be used in one or more embodiments of ashrimp processing system as described herein.

FIG. 53 is a schematic block diagram of a control system that may beused in one illustrative embodiment of a peeling apparatus that may beused in one or more embodiments of a shrimp processing system asdescribed herein.

FIG. 54A is a perspective view of one illustrative embodiment of apeeling apparatus as described herein.

FIG. 54B is a side view of the illustrative embodiment of a peelingapparatus of FIG. 54A, with the upper and lower roller assemblies in theoperating position as described herein.

FIG. 54C is a side view of the illustrative embodiment of a peelingapparatus of FIG. 54A, with the upper and lower roller assemblies in thereceiving position as described herein.

FIG. 54D is an enlarged perspective view of a portion of the peelingapparatus depicted in FIG. 54A.

FIG. 55A is a perspective view of another illustrative embodiment of apeeling apparatus as described herein with the upper and lower rollerassemblies in the receiving position as described herein.

FIG. 55B is a perspective view of the peeling apparatus of FIG. 55A,with the upper and lower roller assemblies in the operating position asdescribed herein.

FIG. 55C is an enlarged side view of the peeling apparatus of FIG. 55B,the view depicting the relationship between the clamp, working surfaceand lower rollers of this illustrative embodiment.

FIG. 55D is a further enlarged view of a portion of the peelingapparatus depicted in FIG. 55C.

FIG. 56 is a schematic diagram illustrating the relationship between oneillustrative embodiment of a lower roller assembly, as well as rotationof the rollers in the lower roller assembly in one or more embodimentsof a peeling apparatus as described herein.

FIG. 57 is a schematic diagram illustrating one illustrative embodimentof a pair of upper rollers that may be used in one or more embodimentsof a peeling apparatus as described herein.

FIG. 58 is a schematic diagram of the upper rollers of FIG. 57 takenalong their respective axes.

FIG. 59 is a schematic diagram depicting one illustrative embodiment ofan alternative peeling apparatus configured to remove the pleopods andpereiopods from the ventral surface of the abdomen of shrimp whileleaving the shell segments on the dorsal surface intact.

FIG. 60 is a perspective view of one illustrative embodiment of a shellsegment separator apparatus that may be used in one or more embodimentsof a shrimp processing system as described herein.

FIG. 61 is a schematic block diagram of a control system that may beused in one illustrative embodiment of a shell segment separatorapparatus that may be used in one or more embodiments of a shrimpprocessing system as described herein.

FIGS. 62 and 63 are enlarged perspective views of the shell segmentseparator apparatus of FIG. 60 with the first and second shell segmentretainers in the ready configuration.

FIG. 64 is an enlarged perspective view of the shell segment separatorapparatus of FIG. 63 with the first and second shell segment retainersin the retention configuration.

FIG. 65 is a side view of the shell segment separator apparatus of FIG.64 , with the second shell segment retainer in the initial position.

FIG. 66 is a side view of the shell segment separator apparatus of FIG.64 after the second shell segment retainer has been moved from theinitial position to the separation position.

FIG. 67 depicts another illustrative embodiment of a shell segmentseparator apparatus that may be used in one or more embodiments of ashrimp processing system as described herein in which the depicted shellsegment retainer is in the ready configuration, the view being takenalong a processing axis passing through the shell segment separatorapparatus.

FIG. 68 depicts the shell segment separator apparatus of FIG. 67 withthe depicted shell segment retainer in the retention configuration.

FIG. 69 is a cross-sectional view of the shell segment separatorapparatus of FIG. 68 taken along line 69-69 in FIG. 68 with the firstand second shell segment retainers in an initial position.

FIG. 70 is a view of the shell segment separator apparatus of FIG. 69with the first and second shell segment retainers moved to a separationposition.

While the above-identified figures (which may or may not be drawn toscale) set forth embodiments of the invention, other embodiments arealso contemplated, as noted in the discussion. In all cases, thisdisclosure presents the invention by way of representation and notlimitation. It should be understood that numerous other modificationsand embodiments can be devised by those skilled in the art, which fallwithin the scope of this invention.

DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

In the following description, reference is made to the accompanyingfigures of the drawing which form a part hereof, and in which are shown,by way of illustration, specific embodiments. It is to be understoodthat other embodiments may be utilized and changes may be made withoutdeparting from the scope of the present invention.

FIG. 1A is a block diagram of one illustrative embodiment of a modularshrimp processing system as described herein. The shrimp processingsystem includes a series of stations at which one or more functions maybe performed. In the depicted illustrative embodiment, the left moststation L may be described as a loading station in which shrimp 2 areloaded onto clamps 12 such that each shrimp 2 can be retained andprocessed by the depicted shrimp processing system.

In the depicted embodiment, a plurality of clamps 12 are provided on aclamp mount 10. In one or more alternative embodiments, however, eachclamp 12 may be individually moved through a shrimp processing system asdescribed herein, i.e., the clamp mount 10 carrying a plurality ofclamps 12 is optional.

FIG. 1A also depicts a conveying system 15 used to move the clamp mounts10 through the shrimp processing system. In the depicted embodiment,conveying system 15 uses a pair of conveying elements 17 to which clampmounts 10 are attached which can be used to move the clamp mounts 10through the groups of processing stations to process shrimp loaded onthe clamps. The conveying elements 17 may be in the form of, forexample, belts, chains, etc. as used in any suitable conventionalconveying equipment. Although the depicted embodiment of conveyingsystem 15 includes to conveying elements 17, other embodiments ofconveying systems used in shrimp processing systems as described hereinmay include only one conveying element or three or more conveyingelements as needed to move clamps 12 through the shrimp processingsystem.

The shrimp processing system further includes a series of groups P1, P2,P3 of processing stations 16 at which one or more processes may beperformed on each shrimp 2 loaded onto clamps 12 as the shrimp passthrough the processing system. It may be preferred that the number ofprocessing stations 16 in each group P1, P2, P3 match the number ofclamps 12 provided on each clamp mount 10 (which, in the depictedembodiment, includes four clamps 12 and four processing stations 16 ineach group), although this is not necessary in all embodiments of shrimpprocessing systems as described herein.

The conveying system 15 may, in one or more embodiments, deliver or moveclamps 12 into selected locations in each of the processing stations 16such that the equipment at each of the processing stations 16 can beoperated based on having clamps 12 carrying shrimp 2 at those selectedlocations. Each successive clamp 12 is moved into each selected locationin the processing stations 16 to assist the processing stations inaccurately processing shrimp held in the clamps 12. Moving clamps 12carrying shrimp into selected locations in the processing stations 16can be distinguished from shrimp processing systems and methods in whichshrimp are moved through a shrimp processing system without control overthe location of the shrimp (for example, systems in which shrimp areentrained in water, etc.). As discussed herein, for example, many of theprocessing stations 16 are designed to act on specific features found inthe shrimp in the clamps 12 and accurately locating those features assuccessive shrimp are moved into each selected location assists ineffective and efficient processing of shrimp using the shrimp processingsystems described herein.

An unloading station U is located after the groups P1, P2, P3 ofprocessing stations at which shrimp 2 may be unloaded/released from theclamps 12 on each clamp mount 10 after passing through the groups P1,P2, P3 of processing stations.

The illustrative embodiment of the shrimp processing system depicted inFIG. 1A also includes an optional sorting station S at which shrimp 2may be separated into bins or other containers 18 based on one or morecharacteristics such as, e.g., weight, length, shelled, unshelled, etc.

In the depicted embodiment, the conveying system 15 advances the clamps12 from the loading end L to the unloading station U. In one or moreembodiments, the conveying system may include ejection stations at theunloading station U that are configured to eject shrimp from the clamps12. In one or more embodiments, the ejection stations may be a set ofplungers acting on shrimp 2 located in clamps 12.

FIGS. 1B and 1C depict one illustrative embodiment of a set of plungersin one illustrative embodiment of an unloading station U that may beused to eject or remove shrimp 2 from clamps 12 that, as discussedherein, may be carried on a clamp mount 10 using conveying elements 17.The plungers 13 are mounted to force shrimp 2 out of clamps 12 using anactuator 19 (e.g., a piston operated hydraulically, pneumatically, usinga solenoid, etc.). The actuator 19 is retracted in FIG. 1B as the shrimp2 carried in clamps 12 are moved into position. When the shrimp 2 are inposition on the plungers 13, the actuators 19 may be actuated to forcethe shrimp 2 out of the clamps 12 as depicted in, e.g., FIG. 1C. In thedepicted illustrative embodiment, the plungers 13 may be described ashaving arcuate surfaces that act on the ventral surfaces of the shrimp 2to, preferably, reduce or eliminate damage to the shrimp 2 during theunloading/ejection process. In one or more embodiments, the actuators 19may be operably connected to a control system used to operate theconveying system 15 and/or any other apparatus used in the shrimpprocessing systems described herein.

With reference to FIG. 2 , one illustrative embodiment of a controlsystem used to control operation of a shrimp processing system asdescribed herein is depicted. The control system includes a controller90 that is operably connected to processing stations of a shrimpprocessing system. The depicted illustrative shrimp processing systemincludes a processing station for measuring 93, a processing station forsevering mud veins 94, a processing station for heading shrimp 95, aprocessing station for peeling shrimp 96 (where peeling may includeremoving abdominal shell segments on the dorsal surface along withremoving pleopods and pereiopods from the ventral surface, or removingthe pleopods and pereiopods from the ventral surface while leaving theshell segments on the dorsal surface intact), a processing station forseparating adjacent abdominal shell segments on shrimp 97, and anejection/sorting station 98. The shrimp processing system also includesa conveying system 92 operably connected to the controller as well asbeing operably connected to each of the processing stations to moveclamps carrying shrimp through the various processing stations asdescribed herein.

Although the controller 90 depicted in connection with the illustrativeembodiment of a shrimp processing system of FIG. 2 is in the form of asingle controller in which all control functions may be performed by asingle controller (although backup and/or redundant controllers may beprovided to assist in the case of failure of a primary controller), oneor more alternative embodiments of shrimp processing systems may includea distributed set of controllers, with those processing stationsrequiring a controller having a dedicated controller and, potentially, anetwork may be used to interconnect the various controllers tofacilitate processing of shrimp by the shrimp processing system.

The controllers used in one or more embodiments of shrimp processingsystems as described herein may be provided in any suitable form andmay, for example, include memory and a controller. The controller may,for example, be in the form of one or more microprocessors,Field-Programmable Gate Arrays (FPGA), Digital Signal Processors (DSP),microcontrollers, Application Specific Integrated Circuit (ASIC) statemachines, etc. The controllers may include one or more of any suitableinput devices configured to allow a user to operate the apparatus (e.g.,keyboards, touchscreens, mice, trackballs, etc.), as well as displaydevices configured to convey information to a user (e.g., monitors(which may or may not be touchscreens), indicator lights, etc.).

Although depicted as being separate in FIG. 2 , it should be understoodthat one or more processing stations may be combined in one or moreembodiments of shrimp processing systems as described herein. Forexample, group P1 of processing stations in the shrimp processing systemdepicted in FIG. 1A may be configured to both measure shrimp 2 and severthe mud veins of the shrimp 2 restrained on clamps 12 in each of theprocessing stations 16 in that group (thus performing both functionsdescribed for processing stations 93 and 94 in the system as depicted inFIG. 2 ). Other combinations of processing steps may also beincorporated into single processing stations.

Furthermore, some processes such as, e.g., measuring, may be performedmore than once on each shrimp. For example, in one or more embodiments,shrimp may be measured as a part of the process for severing the mudveins in shrimp passing through the shrimp processing system and may bemeasured again to assist with other processing such as, e.g., heading,sorting, shell segment separation, etc.

Although all of the different shrimp processing apparatus describedherein may preferably be incorporated into a single shrimp processingsystem or method, it should be understood that any single apparatusdescribed herein may be used in a standalone configuration in which onlythe functions performed by a specific apparatus are performed on eachshrimp passing through that apparatus or method. For example, a singlestation may be provided for heading shrimp that is not preceded by a mudvein severing apparatus or measurement apparatus or method. Similarly, asingle station may be provided for peeling shrimp that have not beenprocessed by a heading apparatus or that have had their heads removed byanother process or apparatus before being delivered to a peelingapparatus as described herein.

Further, any two or more of the different shrimp processing apparatusdescribed herein may be incorporated into the shrimp processing systemsand methods as described herein. For example, a shrimp processing systemor method as described herein may include a measurement apparatus and amud vein severing apparatus, with the measurement apparatus and the mudvein severing apparatus being provided as either separate processingstations in the shrimp processing system or combined in an integratedprocessing station of a shrimp processing system.

In another variation, a shrimp processing system or method as describedherein may include a measurement apparatus and a shell segment separatorapparatus as described herein, with the measurement apparatus and theshell segment separation apparatus provided as either separateprocessing stations in the shrimp processing system or combined in anintegrated processing station of a shrimp processing system.

In another variation, a shrimp processing system or method as describedherein may include a measurement apparatus and a heading apparatus asdescribed herein, with the measurement apparatus and the headingapparatus provided either as separate processing stations in the shrimpprocessing system or combined in an integrated processing station of ashrimp processing system.

The methods of processing shrimp as described herein, whether used withthe processing systems described herein or not, may include loadingindividual shrimp into each clamp of a plurality of clamps to provide aplurality of loaded clamps, with each loaded clamp restraining only oneindividual shrimp at a time. The method may further include transportingeach loaded clamp carrying a shrimp between a plurality of processingstations using a conveying system that connects the processing stations.In one or more methods, the method may include collecting data on eachshrimp in the loaded clamps in at least one processing station of theplurality of processing stations. In one or more methods, the method mayinclude performing one or more actions on each shrimp in the pluralityof loaded clamps in at least one processing station of the plurality ofprocessing stations.

In one or more embodiments of the methods described herein, the clampsmay be arranged in groups of two or more clamps on the conveying system,wherein transporting each loaded clamp between the plurality ofprocessing stations includes simultaneously transporting the groups oftwo or more clamps between the plurality of processing stations.

In methods in which the processing stations are arranged in groups oftwo or more processing stations, the methods described herein mayinclude transporting the groups of two or more loaded clamps between thegroups of two or more processing stations, and collecting data on theshrimp in each group of the two or more clamps at each group of two ormore processing stations configured to collect data before transportingeach group of two or more clamps out of the group of two or moreprocessing stations. Further, the method may include performing one ormore actions on the shrimp in each group of two or more clamps at eachgroup of two or more processing stations configured to perform one ormore of the actions before transporting each group of two or more clampsout of the group of two or more processing stations configured toperform the one or more actions.

In one or more methods of processing shrimp as described herein,collecting data may include measuring a length of each shrimp when, forexample, each shrimp is located in a clamp as described herein. In oneor more embodiments of the methods described herein a weight may beassigned to each shrimp based at least in part on the length of eachshrimp as measured in one or more methods as described herein.

One or more methods of processing shrimp as described herein may includeperforming actions such as, for example, severing a mud vein in eachshrimp at a selected location on the shrimp. In one or more embodiments,the method may include identifying the selected location at which themud vein is to be severed based at least in part on the length of eachshrimp as measured in one or more methods of processing shrimp asdescribed herein.

One or more of methods of processing shrimp as described herein mayinclude removing a head from each shrimp, with the head optionally beingremoved after severing a mud vein on each shrimp proximate a tail of theshrimp. Removal of the head according to one or more methods ofprocessing shrimp as described herein may include identifying a carapacejunction between the carapace and the abdomen of each shrimp beforeremoving the head from each shrimp.

One or more methods of processing shrimp as described herein may includeseparating adjacent abdominal shell segments found on the dorsal surfaceof the abdomen of shrimp before removing the abdominal shell segmentsfrom the shrimp.

One or more methods of processing shrimp as described herein may includesimultaneously removing abdominal shell segments along with one or morepleopods from each shrimp. One or more methods of processing shrimp asdescribed herein may include removing one or more pleopods from eachshrimp while leaving the abdominal shell segments intact.

Illustrative examples of shrimp processing systems and methods ofprocessing shrimp are presented below in connection with a variety ofillustrative examples of shrimp processing stations and the methodsperformed at those stations. It should be understood that the processingstations and the methods performed at those stations are onlyillustrative examples of processing stations and methods that may beused in a processing system as described herein in connection with FIGS.1-2 and that other alternative processing stations and methods may beused in a shrimp processing system as described herein.

To assist with discussion of the shrimp processing stations and methodsperformed at them, one example of a shrimp that may be processed usingthe shrimp processing systems and methods described herein is depictedin FIG. 3 along with a description of the various anatomical features ofthe shrimp. The depicted shrimp 102 includes an abdomen 104 terminatingin a tail/uropod 106 (although the proper name for this anatomicalfeature is the uropod, for simplicity it will be referred to simply asthe “tail” herein). An appendage referred to as the telson 107 sitsabove the dorsal surface of the tail 106. Although the depicted shrimp102 includes an abdomen 104 having six segments, other shrimp that maybe processed using shrimp processing systems as described herein mayhave more or fewer segments forming the abdomen of the shrimp.

The head or carapace 108 of the shrimp 102 is attached to the abdomen104 at the opposite end from the tail 106. The carapace 108 contains theviscera of the shrimp 102 and also carries various features such asantennae, rostrum, etc. Removal of the head or carapace 108 using theprocessing systems and methods described herein results in removal ofthe features attached directly to the carapace 108.

The shrimp 102 also includes appendages in the form of pleopods 105(sometimes referred to as swimmerets) attached to the ventral side ofthe abdomen 104. Additional appendages 109 are also attached to theventral side of the shrimp 102 forward of the abdomen 104, i.e., theventral side of the carapace 108. Those appendages 109 may include, forexample, the pereiopods (sometimes referred to as “walking legs”) andchela. Removal of the head or carapace 108 using the processing systemsand methods described herein typically results in removal of at leastsome of the appendages 109 attached to the ventral side of the carapace108.

The abdomen 104 includes six segments located between the carapace 108and the tail/uropod 106 and telson 107. The segments are numberedstarting at the carapace 108 and proceeding towards the tail 106, withthe abdominal segment closest to the carapace 108 being referred to asthe first segment and the abdominal segment closest to the tail106/telson 107 being referred to as the sixth segment. Each abdominalsegment includes a shell segment on the dorsal side of the abdomen.

The shrimp processing systems and methods described herein rely onprocessing of individual shrimp being retained and moved through thesystems for individual processing. In one or more embodiments, eachshrimp may be retained proximate its tail/uropod using a clamp, althoughother locations for restraining shrimp for processing in the shrimpprocessing systems and methods described herein are also contemplated.

Shrimp Processing System Clamps and Methods

FIGS. 4-6 depict one illustrative embodiment of a clamp that may be usedin one or more illustrative embodiments of shrimp processing systems andmethods described herein. The clamp 112 is configured to capture andretain a shrimp proximate the tail. The depicted embodiment of clamp 112is only one example of a clamp that may be used to capture and retainshrimp processed in the shrimp processing systems and methods describedherein.

The illustrative embodiment of clamp 112 is located on a base 110 (see,e.g., FIG. 5 ). Although the base 110 is shown as being separate anddistinct from the clamp 112, in one or more embodiments, the base 110may form an integral part of the clamp 112.

The clamp 112 includes a body 120 attached to the base 110 along with apair of arms 122 extending away from the body 120 with arms 122connecting a pair of jaws 124 to the body 120 through arms 122. Each ofthe jaws 124 includes a jaw face 125 with the jaw faces 125 on theopposing jaws 124 facing each other along a clamping axis 121 thatextends between the jaws 124.

The jaw faces 125 on each of the jaws 124 define a receiving slotbetween the jaw faces 125. In one or more embodiments, a distancebetween the jaw faces 125 across the receiving slot in a directionaligned with the clamping axis 121 narrows when moving away from thebase 110 between the jaw faces 125 along a compression axis 123, withthe compression axis 123 extending through the base 110 between the jawfaces 125 (in other words, through the receiving slot between the jawfaces 125).

In the depicted illustrative embodiment of clamp 112, one or both of thearms 122 connecting each of the jaws 124 to the body 120 function as aspring member operably attaching the jaws 124 to the body 120. In one ormore embodiments, one or both of the spring members/arms 122 resistsmovement of the attached jaw 124 away from the opposing jaw along theclamping axis 121. In one or more embodiments, one or both of the springmembers/arms 122 also resists movement of the attached jaw 124 away fromthe base 110 along the compression direction aligned with thecompression axis 123. As a result, a shrimp located in the receivingslot between the jaw faces 125 of jaws 124 is compressed against thebase 110 by one or both of the jaws 124.

With reference to FIG. 6 , the distance between the body 120 and thereceiving slot defined between the faces 125 of jaws 124 in a directiontransverse to both the clamping axis 121 and the compression axis 123may be selected to allow the tail 106 of a shrimp captured in the clamp112 to be positioned between the receiving slot and the body 120 of theclamp 112. In one or more embodiments, the distance between the body 120and the receiving slot may be 4 or more, 6 or more, 8 or more, 10 ormore, 12 or more, 14 or more, 16 or more, 18 or more, or 20 or moretimes the receiving slot width measured at a midpoint between the base110 and the narrowest portion of the receiving slot as measured along adirection aligned with the clamping axis 123. In one or moreembodiments, the distance between the body 120 and the receiving slotmay be 24 or less, 22 or less, 20 or less, 18 or less, or 16 or lesstimes the receiving slot width measured at the midpoint between the base110 and the narrowest portion of the receiving slot as measured along adirection aligned with the clamping axis 123.

Again, with reference to FIG. 6 , the compression force alongcompression axis 123 may, in addition to assisting and retaining theshrimp in position in clamp 112, also force the base of the tail 106 ofthe shrimp against the base 110 on which clamp 112 is located. Thataction may, in one or more embodiments, force the tail 106 of the shrimpto fan out or splay as seen in FIG. 6 . As a result, the leading edgesof the tail 106, when splayed, may act against the jaws 124 of clamp 112to further assist in resisting removal of the shrimp from the clamp 112in a direction transverse to both the clamping axis 121 and thecompression axis 123.

Another optional feature depicted in connection with clamp 112 is foundin the standoffs 126 on each of the jaws 124. Raising the jaws 124 offthe base 110 may, in one or more embodiments, provide clearance betweenthe arms 122 and the base 110 such that the jaws 124 are able to rotateabout rotation axes 127 extending through the arms 122 that extend fromthe jaws 124 to the body 120 (see, for example, the rotation axes 127depicted in FIG. 4 ). Rotation of the jaws 124 about the rotation axes127 may, in one or more embodiments, keep a center of pressure imposedon shrimp of different sizes by the jaws 124 above a centerline at whichthe jaws 124 of the clamp 112 contact the differently sized shrimp.

It should be understood that rotation of the jaws 124 may occur even inthe absence of standoffs 126. Further, it should be understood thatalthough both the jaws 124 in the depicted embodiment of clamp 112 mayrotate about their respective rotation axes 127, in one or moreembodiments, only one of the jaws 124 may be configured to rotate abouta rotation axis 127.

In one or more embodiments of clamps for restraining shrimp as describedherein, the clamp 112 may be constructed of a polymeric materialproviding sufficient strength and resilience to form both the arms 122as well as the jaws 124 in a manner that provides the functionsdescribed herein for clamp 112. Alternatively, the clamp 112 may beconstructed of a variety of components assembled together to provide thevarious features and their functions of a clamp capable of restraining ashrimp as described herein. For example, arms 124 could be formed ofspring steel or some other resilient material that is different from thematerial used for the body 120 and/or the jaws 124 of the clamp 112.Other variations such as, e.g., an over molded spring-steel mechanism,will also be known to those of skill in the art.

In one or more embodiments of methods of restraining shrimp as describedherein, the method may include providing a clamp having first and secondjaws positioned on a base, with the jaws defining a receiving slottherebetween, inserting a shrimp into the receiving slot such that thetail of the shrimp is located on a clamp side of the jaws and thecarapace of the shrimp is located on a processing side of the jaws.Although not required, the method may, in one or more embodiments,further include forcing the tail of the shrimp towards the base suchthat the tail forms a splayed tail fan on the clamp side of the jaws.

Described with respect to the illustrative embodiment of clamp 112, themethod may include providing clamp 112 having first and second jaws 124on base 110. The jaws 124 define a receiving slot therebetween.Inserting a shrimp into the receiving slot such that the tail of theshrimp 106 is located on a clamp side of the jaws 124 (in other words,the side of the jaws 124 facing the body 120 of clamp 112) while thecarapace of the shrimp is located on a processing side of the jaws 124(in other words, the side of the jaws 124 facing away from the body 120of the clamp 112). In the depicted embodiment, the abdomen 104 of theshrimp is also located on the processing side of the jaws 124 becausethe jaws 124 act against the shrimp at the junction between the tail 106and the abdomen 104. In one or more embodiments, the jaws 124, alongwith the spring members/arms 122 act to force the shrimp towards oragainst the base 110 such that the tail forms a splayed tail fan on theclamp side of the jaws 124. A splayed tail fan may further resistremoval of the shrimp from the clamp 112 in a direction transverse toboth the clamping axis 121 and the compression axis 123.

In one or more embodiments of the methods of restraining a shrimp in aclamp as described herein, the compressive force on the shrimp towardsthe base along the compression axis 123 may be described as a persistentcompressive force. In other words, the force may be present as long asthe shrimp is retained in the clamp. The compressive force provided bythe clamp may, in one or more embodiments, be assisted when the jaws ofthe clamp widen when approaching the base on which the clamp ispositioned (or narrow when moving away from the base on which the clampis positioned) because the force vectors applied to the shrimp by angledfaces of the jaws of the clamp may assist in providing a compressiveforce to the shrimp as described herein by virtue of their shape.

Moreover, one or more embodiments of the methods of restraining shrimpin a clamp as described herein may involve rotation of one or both ofthe jaws of the clamp as discussed above in connection with theillustrative embodiment of clamp 112. In particular, the clamp 112includes a body 120 and a first jaw 124 connected to the body 120through a first arm 122 as well as a second jaw 124 connected to thebody 120 through a second arm 122. One or both of the jaws 124 may, inone or more embodiments, rotate about a rotation axis 127 located abovethe base 110 and extending between the rotating jaw 124 and the body 120when inserting a shrimp into the receiving slot formed between the firstand second jaws 124.

FIG. 7 is a perspective view of a set of clamps 112 that may be used inone or more embodiments of a shrimp processing system as describedherein. The group of clamps 112 may be described as being attached to aclamp mount 110, with a plurality of the clamp mounts 110 being attachedto conveying elements 117 of a conveying system used to move the clamps112 mounted on the clamp mounts 110 through a shrimp processing systemas described herein. In the depicted embodiment, conveying elements 117are in the form of belts that may be driven by any suitable mechanism tomove the clamp mounts 110 and clamps 112 located thereon through ashrimp processing system as described herein.

Although the depicted illustrative embodiments of clamp mounts 110 carryfour clamps 112, it should be understood that clamp mounts 110 may carryonly one clamp, two clamps, three clamps or five or more clampsdepending on the number of processing stations in a given shrimpprocessing system. Further, although FIG. 7 depicts to conveyingelements 117, it should be understood that a conveying system used toadvance clamps 112 and any clamp mounts 110 through a shrimp processingsystem as described herein may include as few as one conveying elementor three or more conveying elements depending on the specific design ofthe conveying system.

Further, although the conveying elements 117 are in the form of belts,it should be understood that conveying elements used in shrimpprocessing systems as described herein may take any of a variety offorms common to conveying systems including, but not limited to, belts,chains, etc.

In the depicted illustrative embodiment, the conveying elements 117carry mounting bosses 132 with each of the clamp mounts 110 includingcorresponding mounting blocks 130, with each block 130 configured toattach to a mounting boss 132 on the conveying elements 117. The blocks130 may attached to the mounting bosses 132 by any suitable technique orcombination of techniques including, for example, mechanical fasteners,adhesives, clamps, interference fits, mechanical interlocks, etc.

Referring to FIGS. 8-10 , one illustrative embodiment of a set ofmounting bosses 132 and blocks 130 used to attach a clamp mount 110 to aconveying element 117 is depicted in more detail. In the depictedillustrative embodiment, the mounting bosses 132 and blocks 130 areattached to each other using magnetic attraction. In particular, each ofthe mounting bosses and blocks carry permanent magnets to retain theblocks 130 on the mounting bosses 132 which, in turn, retains the clampmounts 110 on the conveying elements 117 for movement through a shrimpprocessing system as described herein.

With reference to FIGS. 8-9 , the mounting blocks 130 (which are shownas transparent to allow visualization of the components containedtherein) is attached to the clamp mount 110 using, in the depictedembodiment, a pair of mechanical fasteners. The mounting block alsoincludes a pair of magnets 134 positioned above a mating feature 136formed in clamp mount 110.

The mating feature 136 is designed to mate with a complementary matingfeature 137 on mounting boss 132 to assist in both alignment andretention of the clamp mount 110 to the mounting boss 132 on conveyingelement 117. Although mating feature 136 is depicted in the form of arecess/well/aperture and complementary mating feature 137 on mountingboss 132 is depicted in the form of a protrusion, it will be understoodthat any pair of complementary mating features found on the clamp mount110 and the mounting boss 132 may provide the same functionality as theillustrative pair of complementary mating features depicted in FIGS. 8-9.

With reference to FIG. 10 , which is a cross-sectional view of the clampmount 10, mounting boss 132, and mounting block 130 taken along line10-10 in FIG. 9 , it can be seen that, in the depicted illustrativeembodiment, the mounting boss 132 includes a complementary pair ofmagnets 135 positioned to magnetically attract magnets 134 in mountingblock 130 attached to the clamp mount 110. It may be preferred thatpairs of magnets 134 and 135 be provided in both the mounting block 130and the mounting boss 132 such that the magnets 134 and 135 form closemagnetic fields to reduce the likelihood that magnetic fields associatedwith the mounting blocks 130 and mounting bosses 132 can affect anyelectrical or magnetic components of a shrimp processing system asdescribed herein. The relationship between the complementary matingfeatures 136 and 137 on the clamp mount 110 and mounting boss 132 canalso be seen in the cross-sectional view of FIG. 10 .

The use of magnets and complementary mating features as seen in FIGS.8-10 may, in one or more embodiments, provide a relatively easy to cleanconnection system for retaining clamp mounts 110 in position onconveying elements 117 of shrimp processing systems as described herein.Many other structures and/or techniques of retaining clamp mounts onconveying elements of a conveying system will, however, be understood asbeing suitable for use in place of the depicted illustrative embodimentof mounting blocks 130, clamp mounts 110 and mounting bosses 132described in connection with FIGS. 8-10 .

With reference to FIGS. 7 and 11 , another optional feature of one ormore embodiments of a shrimp processing system as described herein canbe seen in the offset between the conveying elements 117 and the clamps112 used to retain and move shrimp through a processing system. Inparticular, FIG. 11 depicts a pair of shrimp 102 retained in clamps 112attached to a clamp mount 110 that is moved along a processing direction101 using conveying element 117. Shrimp 102 are supported duringmovement along the processing direction 101 by working surfaces 114which are located on opposite sides of conveying element 117. Thoseworking surfaces are able to support shrimp 102 retained in clamps 112because the conveying elements 117 are not aligned with the clamps 112along the processing direction 101.

Supporting restrained shrimp on working surfaces 114 that are separateand different from the conveying elements 117 may, in one or moreembodiments, provide the ability to improve cleanliness and hygiene of ashrimp processing system because the working surfaces 114 may beseparately cleaned and/or replaced during use to limit contamination andimprove hygiene.

Although one illustrative embodiment of clamps that can be used torestrain shrimp as described herein within a shrimp processing system isdepicted in the preceding figures, it should be understood that otheralternative clamps can be used to provide for restraint and movement ofshrimp in processing systems as described herein. One illustrativeembodiment of an alternative clamp 112′ that may be used in one or moreshrimp processing systems as described herein is depicted in FIGS. 12-13. The clamp 112′ includes jaws 124′ mounted on a body 120′ that arespring-loaded to move towards each other. The shape and spring-loadedmounting of jaws 124′ provide for a clamping force along a clamping axis121′ and, preferably, a compression force along a compression axis 123′extending through the receiving slot located between opposing jaws 124′.

With reference to FIG. 13 , the clamps 112′ may also be provided on aclamp mount 110′ for movement through a conveying system using aconveying element 117′ that is offset from clamps 112′ such that shrimp102′ can be supported on a working surface 114′ that is offset from theconveying element 117′.

Another alternative illustrative embodiment of clamps 112″ is depictedin FIG. 14 with clamps 112″ being carried on a clamp mount 110″. Each ofthe clamps 112″ is depicted as restraining a shrimp 102″ on a workingsurface 114″, while the clamp mount 110″ carrying clamps 112″ is movedthrough a processing system using conveying element 117″ positionedbetween the working surfaces 114″. Clamps 112″ include spring elements122″ used to provide pressure on the shrimp 102″ to retain the shrimp102″ in the clamps 112″.

It should be understood that FIGS. 12-14 depict only two alternativeillustrative embodiments of clamps that may be used to retain shrimp ina processing system for processing according to the methods describedherein. Many other clamps may be used to restrain shrimp for processingin the systems and methods described herein.

Measuring and Mud Vein Severing Apparatus & Methods

Among the processing stations that may be found in one or moreembodiments of shrimp processing systems as described herein arestations that may be used to measure shrimp and stations that may beused to sever the mud vein of shrimp. In one or more embodiments, thesame processing station may be used to both measure shrimp and sever themud vein of shrimp.

FIG. 15 is a schematic block diagram depicting components that may befound in one such system configured to both measure shrimp and sever themud vein in the shrimp. The depicted station includes a measurementmodule 260 and a vein severing module 270 along with a controller 290and conveying system 292.

The measurement module 260 may preferably be a noncontact measurementmodule that is configured to measure shrimp without requiring physicalcontact with the shrimp. In one or more embodiments, the measurementmodule 260 may include an emitter 262 and a receiver 264 that, together,emit and receive energy such as, e.g., optical energy, ultrasonicenergy, etc. Although depicted separately, the emitter 262 and receiver264 may be combined in a transceiver that relies on reflected energy tomeasure shrimp.

The vein severing module 270 may include a variety of componentsincluding a severing module drive 271, a severing restraint actuator 252(operably connected to a severing restraint), and a blade actuator 245(operably connected to a blade). The severing module drive 271, severingrestraint actuator 252, and blade actuator 245 may each be connected tothe controller 292 control movement of the vein severing module 270, thesevering restraint actuator 252, and the blade actuator 245.

Control over the conveying system 292 by the controller 290 may be usedto move shrimp into and out of the measurement module 260 and/or thevein severing module 270.

Although the controller 290 depicted in connection with the illustrativeembodiment of a shrimp measurement and mud vein severing apparatus asdepicted in FIG. 15 is in the form of a single controller in which allcontrol functions may be performed by a single controller (althoughbackup and/or redundant controllers may be provided to assist in thecase of failure of a primary controller), one or more alternativeembodiments of shrimp measurement and mud vein severing apparatus mayinclude a distributed set of controllers, with those portions of theapparatus requiring a controller having a dedicated controller and,potentially, a network may be used to interconnect the variouscontrollers to facilitate processing of shrimp by the measurement andmud vein severing apparatus. Further, the controller 290 (or any othercontrollers used in a mud vein severing apparatus as described herein)may be separate from or integrated into a system controller such as,e.g., controller 90 depicted in connection with a control system used tocontrol a shrimp processing system as depicted in FIG. 2 .

The controllers used in one or more embodiments of shrimp measurementand mud vein separating apparatus as described herein may be provided inany suitable form and may, for example, include memory and a controller.The controller may, for example, be in the form of one or moremicroprocessors, Field-Programmable Gate Arrays (FPGA), Digital SignalProcessors (DSP), microcontrollers, Application Specific IntegratedCircuit (ASIC) state machines, etc. The controllers may include one ormore of any suitable input devices configured to allow a user to operatethe apparatus (e.g., keyboards, touchscreens, mice, trackballs, etc.),as well as display devices configured to convey information to a user(e.g., monitors (which may or may not be touchscreens), indicatorlights, etc.).

One illustrative embodiment of a mud vein severing apparatus 240 isdepicted in FIGS. 16-25E and one illustrative embodiment of ameasurement module 260 is depicted in FIGS. 26-30 . Although the mudvein severing apparatus 240 and the measurement module 260 could, in oneor more embodiments, be integrated into a single processing station ofthe groups of processing stations (e.g., group P1) described above inconnection with the illustrative shrimp processing system depicted inFIGS. 1A and 2 , they are depicted separately in FIGS. 16-30 becausethey can also be provided as separate processing stations.

The vein severing apparatus 240 of the processing station depicted inFIGS. 16-23 is positioned above the working surface 214 on which shrimp202 are located for processing. In one or more embodiments, the shrimp202 may be restrained in a clamp 212 such that the tail 206 of theshrimp 202 is located on one side of the clamp while the remainder ofthe shrimp 202 is located on the opposite side of the clamp 212. Asdiscussed herein, the clamp 212 may be moved to a selected locationrelative to the vein severing apparatus 240 such that each shrimpprocessed by the vein severing apparatus 240 is located in the sameselected position.

The processing station is supported above the working surface 214 (andany shrimp 202 located thereon) on a frame 242, with the components ofthe processing station being located on a carriage 244 that moves alongslide 243 aligned with axis 241. The depicted embodiment of carriage 244includes side plates extending downward from an upper portion of thecarriage 244, although many other variations in support structures maybe possible. Axis 241, along which carriage 244 moves is, in one or moreembodiments, preferably aligned with processing axis 211 passing throughthe working surface 214. As a result, movement of the carriage 244 alongslide 243/axis 241 results in movement of the carriage 244 and itscomponents along the processing axis 211 to facilitate positioning ofthe components in the processing station with one or more selectedlocations on a shrimp 202 positioned on the working surface 214.

The vein severing module of the depicted integrated measurement and mudvein severing apparatus includes a blade assembly 248 and a bladeactuator 245 configured to move the blade assembly 248 between a storedposition and a severed position. More specifically, the blade assembly248 is mounted on a blade carriage 246, with the blade carriage 246being moved by the blade actuator 245 to move the blade assembly 248between its stored position and severed position. The blade actuator 245may be in the form of a dual acting air actuator/piston, although manyother mechanisms may be used to provide the reciprocating motion neededto move the blade actuator 245 and blade assembly 248 between its storedand severed positions, for example, double acting pistons, single actingpistons, spring mechanisms, hydraulic actuators, motors, magneticdrivers, etc.

The blade carriage 246 moves along a blade carriage axis 247 when movingthe blade assembly 248 between its stored position and severed positionand, as a result, the severing direction along which the blade assembly248 moves is aligned with the blade carriage axis 247. In one or moreembodiments the severing direction/blade carriage axis 247 may betransverse to the processing direction 211.

The vein severing module also includes a severing restraint 250configured to fix a position of a shrimp 202 held in a clamp 212 on theworking surface 214. The severing restraint 250 is operably attached toa severing restraint actuator 252 that is configured to move thesevering restraint 250 between a withdrawn position as seen in, forexample, FIG. 16 , and a restraint position as seen in, for example,FIG. 17 . A shrimp 202 held in a clamp 212 in a selected severinglocation on working surface 214 is restrained by the severing restraint250 when the severing restraint 250 is in the restraint position.

In the depicted embodiment, severing restraint actuator 252 causessevering restraint 250 to rotate about an axis 251 when moving betweenthe withdrawn position as seen in FIG. 16 and the restraint position asseen in FIG. 17 . In one or more embodiments the severing restraintactuator may be in the form of a limited force single acting piston thatapplies a smaller downward force when moving the severing restraint 250into the restraint position and a larger upward or retraction force whenmoving the severing restraint 250 from the restraint position back tothe withdrawn position. The smaller downward force may be selected sothat the severing restraint 250 does not unduly damage the shrimp whenthe severing restraint is in its restraint position. In one or moreembodiments the upward or retraction force may be provided by a springlocated within the severing restraint actuator 252.

Although the depicted illustrative embodiment of severing restraintactuator 252 is in the form of a single acting limited force piston,many other mechanisms may be used to provide the reciprocating motionneeded to move the severing restraint 250 between its withdrawn andrestraint positions, for example, double acting pistons, single actingpistons, spring mechanisms, hydraulic actuators, motors, magneticdrivers, etc.

A sequence of operations for the mud vein severing processing stationdepicted in FIG. 16 can be described with reference to FIGS. 16-21 . InFIG. 16 , a shrimp 202 restrained in a clamp 212 carried on a clampmount 210 is moved into a selected severing location on working surface214. The shrimp 202, clamp 212, and clamp mount 210 are moved along aprocessing direction aligned with processing axis 211 to place theshrimp 202 in the selected severing location on working surface 214. Theblade assembly 248 on blade carriage 246 is in the stored position andthe severing restraint 250 is in its withdrawn position in FIG. 16 .

With the shrimp 202 in the selected severing location on working surface214, the severing restraint actuator 252 may be operated to move thesevering restraint 250 from its withdrawn position in FIG. 16 toward theworking surface on which shrimp 202 is restrained by clamp 212 so thatthe severing restraint 250 is in the restraint position as seen in FIGS.17-18 . The severing restraint 250 is located between the blade assembly248 and the clamp 212 restraining a shrimp 202 when a shrimp 202 held inthe clamp 212 is in the selected severing location on working surface214 and the severing restraint 250 is in the restraint position as seenin FIGS. 17-18 .

When in the restraint position as depicted in FIG. 17-18 , theillustrative embodiment of severing restraint 250 is positioned on theabdomen of the shrimp 202 proximate the clamp 212 restraining the shrimp202. It should, however, be understood that other locations for severingrestraint 250 may be possible in alternative embodiments of severingapparatus as described herein. Also seen in FIGS. 17-18 , the bladeassembly 248 on blade carriage 246 is in the stored position (which, inFIG. 17 is shifted to the right along blade carriage axis 247).

With the shrimp 202 in the selected severing location on working surface214 and the severing restraint 250 in the restraint position as seen inFIGS. 17-18 to restrain a shrimp on the working surface 214, the bladeactuator 245 can be activated to move the blade assembly 248 from itsstored position to its severed position as seen in FIGS. 19-20 .Movement of the blade assembly 248 from its stored position to itssevered position using blade actuator 245 along the severing directionaligned with blade carriage axis 247 moves the blade assembly 248generally transverse to the processing direction aligned with processingaxis 211. During that movement, blade assembly 248 passes through theabdomen of the shrimp 202 restrained on working surface 214 by clamp 212as well as severing restraint 250. That movement of blade assembly 248preferably severs the mud vein in shrimp 202.

While the shrimp 202 remains in the selected severing location onworking surface 214 and the severing restraint 250 remains in therestraint position as seen in FIGS. 19-20 , the blade actuator 245 ispreferably activated to move the blade assembly 248 from its severedposition back to its stored position (as seen in, for example, FIGS.17-18 ). Movement of the blade assembly 248 from its severed position toits stored position using the blade actuator 245 while the shrimp 202remains restrained by both the severing restraint 250 and the clamp 212may prevent unwanted movement of the shrimp 202 during return of theblade assembly 248 to its stored position.

With the shrimp 202 remaining in the selected severing location onworking surface 214, the severing restraint 250 may be retractedupwardly away from the working surface 214 from its restraint position(as seen in, e.g., FIGS. 17-20 ) to its withdrawn position as seen inFIGS. 16 and 21 . Movement of the severing restraint 250 may beaccomplished using the severing restraint actuator 252 as describedherein. Further, movement of the severing restraint 250 may also resultin movement of the blade actuator 245, blade carriage 246, and bladeassembly 248 away from the working surface 214 and the shrimp 202located thereon.

Although the depicted embodiment of the mud vein severing apparatus 240uses a fixed blade that is moved relative to a shrimp, one or morealternative embodiments of the mud vein severing apparatus as describedherein may include rotary blades, water jets, etc. that may be used tosever the mud veins in shrimp as described herein.

FIG. 22 depicts one illustrative embodiment of a blade assembly 248 usedin a mud vein severing apparatus as described herein. In particular,blade assembly 248 may be in the form of a blade holder 249 a and areplaceable blade 249 b that can be attached to blade holder 249 a. Inone or more embodiments, the blade 249 b may be in the form of a #10scalpel blade or other conventional cutting instrument to allow for easyand quick replacement of the blade as needed. FIGS. 23-24 depict theblade 249 b in an enlarged view where can be seen that the blade 249 bincludes a cutting edge 249 c, with the blade 249 b being attached to aholder 249 a of the blade assembly 248. In one or more embodiments, thecutting edge 249 c of the blade 249 b faces upwards or away from theventral side of a shrimp in the selected severing location as the blademoves along the severing path.

In the depicted illustrative embodiment, the cutting edge 249 c of theblade 249 b is a curved edge. The curved edge of the blade 249 b mayreduce the likelihood of fracture of the blade during use in severingthe mud veins of shrimp processed by the shrimp processing systemsdescribed herein.

In one or more embodiments, it may be preferred that the blade assembly248 move from its stored position to its severed position in a directionthat results in a slicing action of the mud vein in a shrimp 202. Withreference to FIGS. 16-21 , shrimp 202 restrained in a selected severinglocation on working surface 214 are generally aligned along processingaxis 211 such that movement of the blade assembly 248 along a severingdirection aligned with the blade actuator axis 247 provides the desiredslicing action of a mud vein in the shrimp 202 when the severingdirection/blade actuator axis 247 is oriented generally transverse tothe processing axis 211.

FIGS. 23-24 depict the relative positions of the severing restraint 250in position on a pair of differently sized shrimp 202 to illustrate theadaptation provided by the notch 254 in severing restraint 250 based onshrimp of different sizes. As discussed herein and, as depicted in FIGS.23-24 , the path of the cutting edge 249 c of the blade 249 b is fixedrelative to the severing restraint 250. In other words, the cutting edge249 c of the blade 249 b passes the same portion of the notch 254 insevering restraint 250 regardless of the size of the shrimp 202.

In particular, FIG. 23 depicts a larger shrimp 202 in a selectedsevering position and aligned with the processing axis 211 on a workingsurface 214 of a shrimp processing system as described herein. FIG. 24depicts a smaller shrimp 202 in a selected severing position and alignedwith the processing axis 211 on a working surface 214 of a shrimpprocessing system as described herein The shrimp 202 are both shown incross-section with the mud vein 203 located proximate the dorsal side ofthe shrimp 202.

FIGS. 23-24 depict the ability of the notch 254 in severing restraint250 to assist in determining a height of the ventral side of the shellof the shrimp and setting a cutting depth relative to that height for ablade of a mud vein severing apparatus as described herein. Axis 257depicted in FIGS. 23-24 may, for example, be indicative of the path of ablade used to sever a mud vein of a shrimp relative to the notch 254. Inparticular, axis 257 may be indicative of the path of the lowermost end249 d of the cutting edge 249 c of the blade assembly 248. The axis 257is generally parallel with the severing direction/blade actuator axis247 along which the blade assembly 248 is moved during the severingprocess.

With reference to FIGS. 23-24 , axis 257 may define a cutting depth dalong a vertical axis extending through the working surface 214 and theshrimp 202. Defining the cutting depth relative to the dorsal side ofthe shrimp shell using a notched severing restraint such as, forexample, severing restraint 250 may assist in assuring that cuttingdepths on shrimp restrained in a selected severing location as describedherein are deep enough to sever the mud vein, without undesirablycutting too deeply into a shrimp being processed by the mud veinsevering apparatus.

As noted above, FIG. 24 depicts a smaller shrimp 202 in the selectedsevering position and also aligned with the processing axis 211 on theworking surface 214 of a shrimp processing system as described herein.FIG. 24 also depicts the axis 257 along which the lowermost end 249 d ofthe cutting edge 249 c moves as the blade 249 b passes through thesmaller shrimp 202 to sever the mud vein 203.

A comparison of FIGS. 23 and 24 shows that the axis 257 along which thelowermost end 249 d of the cutting edge 249 c moves to sever the mudveins 203 in both the larger and smaller shrimp 202 is in the sameposition relative to the severing restraint 250 regardless of the sizeof the shrimp. In both instances, however, the cutting edge 249 c of theblade 249 b of the blade assembly 248 is in position low enough to severthe mud veins 203 of the shrimp 202.

Fixing the height of the path of the blade 249 b relative to thesevering restraint 250 provides for accurate and repeatable severing ofmud veins in shrimp of relative widely varying sizes because the mudveins 203 are located closer to the dorsal side of shrimp as apercentage of the “height” of the abdomen of the shrimp 202 in largershrimp as compared to smaller shrimp (compare, for example, thelocations of the mud veins 203 of the larger shrimp in FIG. 23 and thesmaller shrimp in FIG. 24 ).

Another feature that can be visualized with reference to FIGS. 23 and 24is that the cutting edge 249 c of the blade 249 b will, in mostinstances, force the mud veins 203 of both the larger and smaller shrimp202 away from the ventral sides and towards the dorsal sides of theshrimp 202 (i.e., away from the working surface 214 against which theventral surfaces of the larger and smaller shrimp 202 face). Thatlifting action can, in some instances, assist with severing of the mudveins 203 which can, in some instances, be relatively tough and/orelastic. Although the lifting action occurs with a curved cutting edge,it will be understood that a similar lifting action could be achievedwith a straight cutting edge that also faces away from the ventral sideof the shrimp 202.

As discussed herein, the severing restraint 250 used in one or moreembodiments of the mud vein severing apparatus described hereinpreferably includes a notch 254. The notch 254 is configured to receivea shrimp 202 held in a clamp 212 in the selected severing location onworking surface 214 as described herein. In addition to assisting withrestraint of a shrimp positioned in the notch 254, the notch alsoprovides positioning for a blade used to sever the mud vein of a shrimpas described herein.

FIGS. 25A-25E illustrate various features regarding the depictedillustrative embodiment of notch 254. In particular, the notch 254 maybe described as extending inwardly from leading edges 255 of restraint250 towards a notch end 256 along a notch axis 253. Notch axis 253 maypreferably be transverse to the processing axis 211 when the restraint250 is in its restraint position proximate a working surface asdescribed herein. Furthermore, the notch 254 may preferably be widerproximate the leading edges 255 of restraint 250 and narrow whenapproaching the notch end 256 distal from those leading edges.

In one or more embodiments, the notch 254 may preferably have a beveledsurface 258 that widens when moving in one direction along processingaxis 211. This feature is seen in, for example, FIGS. 25B-25E. Becauseof the beveled surface 258, the notch 254 is wider on one side ofsevering restraint 250 than on the opposite side of severing restraint250. In one or more embodiments, that widening may preferably correlatewith the widening of the abdomen of a shrimp when moving from the tailof the shrimp towards its carapace and, as a result, may assist inrestraining shrimp when the severing restraint 250 is in its restraintposition on a shrimp.

FIG. 25C is an enlarged cross-sectional view of the severing restraint250 taken along the notch axis 253. As can be seen in this figure, thebeveled surface 258 forming the notch 254, in addition to changing thewidth of the notch 254 as seen in FIG. 25B, also changes the height ordepth of the notch 254 between the tail side 259 t and the carapace side259 c of the severing restraint 250. In one or more embodiments, thebeveled surface 258 may define an angle α (alpha) relative to theprocessing axis 211. In one or more embodiments the angle α (alpha) maybe 15 or more, 30 or more, 45 or more, or 60 or more degrees at a lowerend and 75° or less, 60° or less, 45° or less, or 30° or less at anupper end.

FIGS. 25D and 25E depict the severing restraint 250 on two differentlysized shrimp 202 to illustrate the effect that the beveled surface 258may have when placing the severing restraint 250 on differently sizedshrimp. In FIG. 25D a larger shrimp 202 is depicted with a ventralsurface facing the working surface 214. In embodiments in which thesevering restraint 250 is rotated into position (see, for example, themud vein severing apparatus depicted in FIGS. 16-21 ), the angle of thesevering restraint 250 (as represented by the notch axis 253) may beless vertical when placed on a larger shrimp as seen in FIG. 25D ascompared to the more vertical angle of the severing restraint 250 whenplaced on a smaller shrimp as seen in FIG. 25E.

That change in angular orientation of the severing restraint 250 ondifferently sized shrimp may be, at least in part, accommodated by thebeveled surface 258 of the notch 254 in one or more embodiments of asevering restraint as described herein. Moreover, the accommodation madeby the beveled surface 258 on larger shrimp may, in one or moreembodiments, also assist in moving the axis 257, which defines thecutting depth as discussed above in connection with FIGS. 23-24 ,farther down or deeper into the shrimp 202 on the larger shrimp and,conversely, moving the axis 257 upward towards the dorsal side of theshrimp 202 on smaller shrimp.

One illustrative embodiment of the components that may be used toprovide a measurement module that may be used to measure shrimp in oneor more embodiments of a shrimp processing system as described hereinare depicted in FIGS. 26-30 . Although described and depictedseparately, in one or more embodiments of processing stations describedherein, a mud vein severing apparatus and a shrimp measurement modulemay be integrated into the same processing station. In one or moreembodiments, the measurement modules described herein may preferably usea noncontact sensor configured to measure the length of a shrimp held ina clamp moving through the measurement module along a measurementdirection. In general, the measurement direction will align with theprocessing direction as defined by processing axis 211.

Regardless of whether or not the measurement module is integrated intothe same processing station as a mud vein severing apparatus, themeasurement module may preferably be positioned such that shrimp movingthrough a shrimp processing system as described herein are measuredbefore, or at least as, they reach the selected severing location atwhich the mud vein is severed. Doing so can allow the system to use thelength of the shrimp to properly position the mud vein severingapparatus with respect to each shrimp for accurate and efficientsevering of the mud veins of shrimp processed using the shrimpprocessing systems described herein.

With reference to FIGS. 26 and 28 , the measurement module componentsare located on opposite sides of the measurement direction/processingaxis 211 such that shrimp moving along the processing axis 211 passbetween the components of the measurement module. In particular, thedepicted illustrative embodiment of the measurement module includes anemitter 262 and a receiver 264 positioned on opposite sides of theprocessing axis 211. The specific embodiment of emitter 262 is in theform of an array of infrared emitters which generate a multipath lightbeam, while the receiver 264 receives that emitted energy and uses it todetermine the length of a shrimp passing between the emitter 262 and thereceiver 264.

With reference to FIGS. 26-27 & 30 , the array of emitters formingemitter 262 (arranged vertically in FIGS. 26-27 ) in the depictedembodiment emit light generally across the opening between the emitter262 and receiver 264. With reference to FIGS. 28-30 , the receiver 264may, in one or more embodiments, have an aperture over which lightemitted by the emitters 262 is received such that only light within thedepicted fan shaped distribution of energy 266 between the emitter 262and receiver 264 is received by the receiver 264.

In operation, it may be preferred to calibrate the noncontact sensorbefore a shrimp held in a clamp passes through the noncontact sensor inthe measurement direction. In one or more embodiments, it may bepreferred to calibrate the noncontact sensor before every shrimp held ina clamp passes through the noncontact sensor in the measurementdirection. Calibration of the noncontact sensor before each shrimp heldin a clamp passes through the noncontact sensor may provide for morerobust and accurate measurement of shrimp passing through the noncontactsensor. In one or more alternative embodiments, it may be preferred tocalibrate the noncontact sensor after a selected number of shrimp havepassed through the noncontact sensor (as opposed to calibrating thenoncontact sensor before every shrimp passes through the noncontactsensor).

During the measurement process, the emitter 262 continuously emitsoptical energy across the gap between the emitter 262 and the receiver264 while a shrimp restrained in a clamp passes between the emitter 262and receiver 264 along the processing axis 211. The controller to whichthe emitter 262 and receiver 264 are operably attached monitors theenergy received by the receiver 264 to identify a junction between theclamp and a shrimp held in the clamp when moving a shrimp held in aclamp through the noncontact sensor. That junction can, in one or moreembodiments, be detected by identifying a selected portion of a clampsuch as, for example, the leading edge of the clamp restraining a shrimpas the clamp and shrimp pass between the emitter 262 and receiver 264along the processing axis 211 when the amount of energy emitted by theemitter 262 reaching the receiver 264 falls below a selected clampthreshold value indicating blockage of the energy consistent with theclamp passing between the emitter 262 and receiver 264.

As the shrimp and clamp continue to pass between the emitter 262 andreceiver 264, the controller continues to monitor the energy received bythe receiver 264. While the shrimp is located between the emitter 262and receiver 264 the amount of energy received by the receiver 264 isreduced due to blockage by the abdomen and carapace of the shrimp. As,however, the carapace of the shrimp passes between the emitter 262 andreceiver 264, the amount of energy received by the receiver 264increases as the carapace completes its passage between the emitter 262and receiver 264.

A shrimp length measurement value is determined when the amount ofenergy reaching the receiver 264 increases to a level above a selectedantenna threshold at which point the carapace of the shrimp has passedbetween the emitter 262 and receiver 264 (referred to as an antennathreshold because, presumably, only antenna of the shrimp may be locatedbetween the emitter 262 and receiver 264 after the carapace has passedbetween those components).

Because the controller is also operably connected to the conveyingsystem (see, e.g., controller 290 and conveying system 292 in FIG. 15 )used to move the shrimp restrained in clamps through the measurementmodule between the emitter 262 and receiver 264, the length of theshrimp can be determined based on the distance traveled by the shrimpusing the conveying system. In particular, the distance traveled by ashrimp in the time between identification of the leading edge of theclamp (as determined by the energy received by the receiver 264 fallingbelow a selected clamp threshold) and identification of the end of thecarapace of the shrimp (as determined by the energy received by thereceiver 264 rising above a selected antenna threshold) is used as ameasurement of the length of the shrimp.

Although one illustrative embodiment of a measurement module may rely oninfrared energy emitted and received by a noncontact sensor, other formsof noncontact sensing may be used in place of and/or in addition toinfrared energy emission and detection. For example, noncontact sensingmay be performed using ultrasonic energy, optical energy outside of theinfrared range, imaging systems (using one or more cameras, etc.),capacitive sensing, imaging systems (using one or more cameras, etc.),etc. In still other alternative embodiments, contact sensing may be usedto determine the length of the shrimp using, for example, mechanicalfollowers, fluid jets, etc.

With length of the shrimp determined, the controller may, optionally, beconfigured to determine a weight of the shrimp based at least in part onthe length of the shrimp. In some embodiments, the weight of a shrimpheld in a clamp may be based entirely on the length of the shrimp asmeasured using a measurement module as described herein.

Further, with the length of the shrimp determined, that information maybe used to position the vein severing apparatus relative to thatspecific shrimp such that the vein severing apparatus can sever the mudvein of the shrimp at a selected location on the shrimp. With referenceto FIG. 3 , it may be preferred to sever the mud vein of a shrimp 102proximate a junction between a rearmost abdominal shell segment and anadjacent abdominal shell segment of the shrimp, wherein the rearmostabdominal shell segment is located between the adjacent abdominal shellsegment and the tail of the shrimp. For example, in a shrimp 102 havingan abdomen with six segments, it may be preferred to sever the mud veinproximate a junction between the fifth shell segment and sixth shellsegment in the abdomen 104. Severing the mud vein at that location mayresult in removal of substantially all of the mud vein, with only theportion of the mud vein located in the rearmost/sixth abdominal segment(width that portion of the mud vein sometimes referred to as the “hindgut”) remaining when the majority of the mud vein is removed from theabdomen 104 between the rearmost/sixth abdominal segment and thecarapace of the shrimp 102.

Because the length of the shrimp 202 is known, the general location ofthe junction between the rearmost and adjacent (for example, fifth andsixth) shell segments is also known because the location of thatjunction is related to the length of the shrimp 202 and the veinsevering module can be positioned properly such that the blade seversthe mud vein proximate the junction between the rearmost and adjacent(for example, fifth and sixth) shell segments.

As discussed above in connection with FIGS. 16-23 , the illustrativeprocessing station depicted in those figures includes a carriage 244configured to move along axis 241 which is aligned with processing axis211 along which shrimp 202 is positioned on working surface 214.Carriage 244 can be moved using a vein severing module drive (see, e.g.,severing module drive 271 in FIG. 15 ). Although not shown in FIGS.16-23 , the vein severing module drive (271) operably attached to thecarriage 244 to move carriage 244 may take any suitable form including,for example, electric motors, hydraulic motors, pistons (hydraulicand/or pneumatic), solenoids, etc.

Moving carriage 244 also moves the blade assembly 248 along theprocessing axis 211 because blade actuator 245 and blade carriage 246are both mounted on carriage 244 along with the severing restraint 250and its associated components. As a result, with knowledge of thelocation of blade assembly 248 relative to carriage 244 and ameasurement of the shrimp 202 located in the selected severing locationon the working surface 214 providing the general location of thejunction between the fifth and sixth shell segments on the shrimp 202,the mud vein severing apparatus depicted in FIGS. 16-23 can position theblade assembly 248 such that the blade assembly 248 severs the mud veinproximate the selected junction on the shrimp 202 when moving from itsstored position to its severed position as described herein.

Heading Apparatus & Methods

As discussed herein, one or more embodiments of the shrimp processingsystems and methods described herein may include a processing stationand methods of heading individual shrimp. As used herein, “heading” of ashrimp means removal of the head/carapace (and substantially all of theviscera located therein) from the abdomen of a shrimp. In one or moreembodiments, the shrimp may be restrained on a working surface duringheading using a heading restraint, with the heading restraint being, inone or more embodiments, positioned at the junction between the abdomenand the carapace of the shrimp (referred to herein as the “carapacejunction”).

In one or more embodiments, the head of the shrimp be removed in amanner that also results in removal of a significant portion of the mudvein, but removal of the mud vein during heading is not required.Removal of the mud vein during heading may be facilitated if the mudvein is severed at a selected location along the abdomen before headingthe shrimp. In one or more embodiments, the mud vein may, as describedherein, be severed proximate a junction between the rearmost andadjacent (for example, fifth and sixth) shell segments on the abdomenbefore heading the shrimp.

The shrimp processing systems and methods described herein involve aheading process performed on each shrimp individually while the shrimpis restrained by a head restraint acting on the shrimp at a locationproximate the carapace junction. In one or more embodiments, the shrimpmay also be restrained by a clamp acting on its abdomen between thecarapace junction and the tail, but that additional restraint is notrequired for the heading process. For example, in one or moreembodiments, the shrimp may be restrained by a clamp acting on theabdomen of the shrimp proximate its tail.

FIGS. 31-33 are simplified diagrams depicting one illustrativeembodiment of a heading process and apparatus as described herein, whileFIG. 34 depicts a heading apparatus in the form of a schematic blockdiagram. As depicted in FIG. 31 , a shrimp 302 is positioned on aworking surface 314. The shrimp 302 is positioned such that it extendsalong a processing axis 311 away from a clamp 312 attached to a clampmount 310. More specifically, the shrimp 302 is restrained by clamp 312proximate its tail, such that the abdomen 304 and carapace 308 of theshrimp extend away from the clamp 312 on the working surface 314.

A heading restraint 350 is positioned opposite the working surface 314.The heading restraint as depicted in FIG. 31 is located in its storedposition such that the shrimp 302 can be positioned between the headingrestraint 350 and the working surface 314. A spoon 360 is also depictedin FIG. 31 with the spoon 360 being in its ready position in which thespoon 360 is located proximate a carapace side of the heading restraint350 (where the carapace side of the heading restraint 350 is the side ofthe heading restraint facing the carapace 308 of the shrimp 302).

The heading restraint 350 is depicted in its restraint position in FIG.32 which is closer to the working surface 314 than when the headingrestraint 350 is in its stored position as seen in FIG. 31 . When movedto its restraint position, the heading restraint 350 is configured toforce the shrimp 302 located between the heading restraint 350 and theworking surface 314 against the working surface 314. The spoon 360remains in its ready position proximate the carapace side of the headingrestraint 350 in FIG. 32 . In the illustrative embodiment depicted inFIGS. 31-32 , the heading restraint 350 and spoon 360 may sever theshrimp 302 at a location proximate its carapace junction 303 (that is,the junction 303 between the abdomen 304 and the carapace 308 of theshrimp).

With reference to FIG. 33 , the heading restraint 350 remains in itsrestraint position as seen in FIG. 32 , while the spoon 360 has beenmoved to its finish position spaced away from the carapace side of theheading restraint 350. Moving the spoon 360 from its ready position asseen in FIG. 32 to its finish position as seen in FIG. 33 separates thehead/carapace 308 of the shrimp 302 on the working surface 314 from theabdomen 304.

Also depicted in FIG. 33 is that the spoon 360 (more particularly aworking portion of the spoon 360), moves away from the abdomen 304 andheading restraint 350 along a spoon path 301. In the depictedembodiment, at least a portion of the spoon path 301 is arcuate.Further, in the depicted embodiment, the working portion of the spoon360 moves closer to the working surface 314 as the spoon 360 moves awayfrom the abdomen 304 of the shrimp and heading restraint 350.

In one or more embodiments, separation of the carapace 308 from theabdomen 304 of the shrimp 302 may also result in removal of at least aportion of the mud vein 303 from the abdomen 304 of the shrimp 302.Removal of the mud vein 303 may be facilitated if the mud vein issevered within the abdomen 304 before the carapace 308 of the shrimp isremoved from the abdomen 304 of the shrimp 302. As discussed herein, forexample, it may be desirable to sever the mud vein 303 in the abdomen304 proximate the junction between the rearmost and adjacent (forexample, fifth and sixth) shell segments on abdomen 304.

Described in a different manner, the heading process as depicted inFIGS. 31-33 may be described as a method in which the abdomen 304 of theshrimp 302 is restrained in a fixed position on a working surface 314and moving a spoon 360 through the shrimp proximate a carapace junction303 of the shrimp 302 (the carapace junction 303 being located betweenthe carapace 308 and a first abdominal segment in the abdomen 304 of theshrimp 302). Moving the spoon 360 through the shrimp proximate thecarapace junction 303 may involve moving the spoon 360 towards theworking surface 314. The method further includes moving the spoon 360away from the abdomen 304 while restraining the abdomen 304 of theshrimp 302 in the fixed position on the working surface 314.

With reference to FIG. 34 , one illustrative embodiment of a headingapparatus as described herein is depicted in a schematic block diagramin which a heading restraint 350 and heading restraint actuator 352 arecarried on a heading apparatus shuttle 344 along with a spoon 360 andspoon actuator 362.

The shuttle actuator 345 is operably connected to the controller 390,with the shuttle actuator 345 being used to move the shuttle such thatthe spoon 360 and heading restraint 350 are positioned at a selectedlocation on a shrimp during the heading process. The heading restraintactuator 352 is operably connected to the controller 390, with theheading restraint actuator being used to move the heading restraintbetween its stored position and its restraint position as describedherein. The spoon actuator is operably connected to the controller 390,with the spoon actuator 362 being used to move the spoon 360 from itsready position to its finish position to remove the carapace of a shrimprestrained by the heading restraint 350.

Controller 390 is also, in one or more embodiments, operably connectedto an optional carapace sensor to assist with identification of thecarapace junction as described herein. In one or more embodiments ofshrimp processing systems as described herein in which a measurementmodule is used to measure the shrimp being processed, that measurementmay be used to identify the area in which the carapace junction islikely located to speed identification of the carapace junction asdescribed herein. In one or more alternative embodiments, the locationof the carapace may be determined based on the measured length of theshrimp using, e.g., the measurement apparatus and methods describedherein. In the depicted illustrative embodiment, the carapace sensorincludes an emitter 368 and a receiver 369, with the emitter 368emitting energy received by the receiver 369. Variations in the amountof energy received by the receiver can be used to identify the carapacejunction as described herein.

Conveying system 392 is also operably attached to the controller 390,with the conveying system being used to move individual shrimp intoposition on a working surface where the shrimp may be acted on by theheading restraint 350 and spoon 360 as described herein.

Although the controller 390 depicted in connection with the illustrativeembodiment of a heading apparatus as depicted in FIG. 34 is in the formof a single controller in which all control functions may be performedby a single controller (although backup and/or redundant controllers maybe provided to assist in the case of failure of a primary controller),one or more alternative embodiments of shrimp heading apparatus mayinclude a distributed set of controllers, with those portions of theapparatus requiring a controller having a dedicated controller and,potentially, a network may be used to interconnect the variouscontrollers to facilitate processing of shrimp by the heading apparatus.Further, the controller 390 (or any other controllers used in a headingapparatus as described herein) may be separate from or integrated into asystem controller such as, e.g., controller 90 depicted in connectionwith a control system used to control a shrimp processing system asdepicted in FIG. 2 .

The controllers used in one or more embodiments of heading apparatus asdescribed herein may be provided in any suitable form and may, forexample, include memory and a controller. The controller may, forexample, be in the form of one or more microprocessors,Field-Programmable Gate Arrays (FPGA), Digital Signal Processors (DSP),microcontrollers, Application Specific Integrated Circuit (ASIC) statemachines, etc. The controllers may include one or more of any suitableinput devices configured to allow a user to operate the apparatus (e.g.,keyboards, touchscreens, mice, trackballs, etc.), as well as displaydevices configured to convey information to a user (e.g., monitors(which may or may not be touchscreens), indicator lights, etc.).

One illustrative embodiment of a heading apparatus that may be used inone or more embodiments of shrimp processing systems and methodsdescribed herein is depicted in FIG. 35 . The depicted heading apparatus340 is positioned above the selected heading location above the workingsurface 314 located along a processing axis 311. As described herein,individual shrimp are moved into a selected heading location along theprocessing axis 311 in the direction of the arrow located below workingsurface 314 and axis 311 so that they are located on the working surface314 in a position, for example, a selected heading location, to be actedon by the heading apparatus 340.

The heading apparatus includes a heading apparatus 344 supported on aframe 342 above the working surface 314. The shuttle 344 in the depictedillustrative embodiment is configured to move along a shuttle axis 341aligned with the processing axis 311. In one or more embodiments, theshuttle 344 may move along one or more slides 343 aligned with shuttleaxis 341. Shuttle 344 may be moved using a shuttle actuator 345 operablyconnected to the shuttle 344 using any suitable drive system.

The illustrative embodiment of heading apparatus 340 also includes aheading restraint 350 position above the working surface 314 and aheading restraint actuator 352 operably connected to move the headingrestraint 350 between a stored position (as seen in FIG. 35 ) and arestraint position (as seen in, for example, FIGS. 46-47 (described morecompletely below)). In the depicted illustrative embodiment, movement ofthe heading restraint 350 from its stored position to its restraintposition involves rotating the heading restraint 350 about axis 351.Although not visible in FIG. 35 , the heading apparatus includes a spoonoperably connected to a spoon actuator 362 used to move the spoon fromits ready position to its finish position as described herein.

Also depicted in FIG. 35 is one portion of an optional carapace sensorthat may be used to determine where shuttle 344 is positioned toproperly place heading restraint 350 on a shrimp located on the workingsurface 314. In particular, a receiver 369 of a noncontact carapacesensor system is depicted along one side of shuttle 344 in FIG. 35 .

FIGS. 36-37 are enlarged views of portions of the heading apparatus 340depicted in FIG. 35 . In particular, FIG. 36 depicts the headingrestraint 350 along with a portion of heading restraint actuator 352,both of which are carried by shuttle 344 supported by frame 342 formovement along slide 343 defining shuttle axis 341. Spoon actuator 362is also depicted in FIG. 36 along with working surface 314 which extendsalong processing axis 311 as described herein. 341.

FIG. 37 is a slightly more enlarged view depicting receiver 369 of anoncontact carapace sensor system along with a projection of a beam path(depicted in a broken line) emanating from an emitter 368 and directedtowards the receiver 369. The emitter 368 and receiver 369 of thecarapace sensor system are, in the depicted embodiment, carried on theshuttle 344 as seen in, for example, FIGS. 36-37 . The beam path may, inone or more embodiments, preferably be transverse to the processing axis311 as depicted in FIG. 37 . Movement of the shuttle 344 along theprocessing axis 311 after a shrimp is located in a selected headinglocation on the working surface 314, therefore, moves the carapacesensor system relative to the shrimp to accurately detect the carapacejunction as described herein.

FIG. 38 is a view of the heading apparatus 340 taken from the oppositeside as depicted in FIG. 35 with one side of the shuttle 344 removed toexpose components located within shuttle 344. FIG. 38 also includes ashrimp 302 located on working surface 314 in what can be referred to asa selected heading location on working surface 314. Shrimp 302 isrestrained by a clamp 312 carried on a clamp mount 310 in a mannersimilar to other clamps and clamp mounts as described herein.

Also exposed by removal of one side of shuttle 344 are a drive gear 346operably connected to the depicted illustrative embodiment of shuttleactuator 345 along with a belt 347 used to move shuttle 344 along theprocessing axis 311 as needed to properly position the heading restraint350 above shrimp 302 located in the selected heading position on workingsurface 314. Although a belt 347 and drive gear 346 are used in thedepicted embodiment of shuttle actuator 345, many other mechanisms couldbe used to move the shuttle 344 as described herein (for example, a leadscrew and follower, a rack and pinion, etc.). Heading restraint 350 is,as described herein, rotated about heading restraint axis 351 usingheading restraint actuator 352 to move heading restraint 350 between itsstored and restraint positions as described herein (with the headingrestraint 350 being located in its stored position in FIG. 38 ).

Other features exposed by removal of a portion of shuttle 344 are aspoon 360 along with spoon actuator 362. Spoon actuator 362 is operablyconnected to spoon 360 to rotate spoon 360 about spoon axis 361 in thedepicted illustrative embodiment of heading apparatus 340.

FIGS. 39-41 depict various views of one illustrative embodiment of aheading restraint 350 that may be used in one or more embodiments of aheading apparatus as described herein. The heading restraint 350includes a contact portion 355 configured to contact and at leastpartially sever a shrimp located on a working surface proximate thecarapace junction of the shrimp when the heading restraint is in itsrestraint position as described herein. Contact portion 355 extendsdownwardly from mounting portion 357 used to mount the heading restraint350 in the heading apparatus 340.

The depicted illustrative embodiment of heading restraint 350 alsoincludes a guide 358 extending away from the contact portion 355 of theheading restraint 350 along the direction of processing axis 311. In thedepicted illustrative embodiment, the guide 358 is in the form of a pairof wings 359 extending away from the contact portion 355 of headingrestraint 350.

Another optional feature depicted in connection with the illustrativeembodiment of heading restraint 350 is a beveled edge 356 located oncontact portion 355, with the beveled edge 356 facing the workingsurface 314 when the heading restraint 350 is in its restraint position.The beveled edge 356 may facilitate passage of the contact portion 355of the heading restraint 350 through a shrimp as the heading restraint350 is moved from its stored position to its restraint position asdescribed herein.

Heading restraint 350 also includes an optional restraint notch 354located in contact portion 355 with the restraint notch 354 terminatingat end 353. Restraint notch 354 opens towards a working surface and ashrimp located thereon when heading restraint 350 is in its restraintposition relative to a working surface 314 as described herein. In oneor more embodiments, restraint notch 354 may provide clearance for a mudvein of a shrimp during the heading process such that the mud vein isnot severed by the contact portion of the heading restraint 350 when theheading restraint 350 is moved into its restraint position.

In one or more embodiments, the restraint notch 354 may have a depth drmeasured between the beveled edge 356 and the notch end 353 in adirection transverse to the processing axis 311. The depth dr may, inone or more embodiments, be long enough such that the heading restraint350 can be used with shrimp of a variety of sizes while still providingthe functions of restraint during heading as well as reducing thelikelihood of severing the mud vein during heading.

FIG. 42 depicts one illustrative embodiment of a spoon 360 that may beused in one or more embodiments of a heading apparatus as describedherein. FIG. 43 depicts an enlarged view of a portion of the spoon 360when in the ready position proximate the contact portion 355 of aheading restraint as described herein, with the working portion 365 ofthe spoon located within the guide defined by the wings 359 of headingrestraint 350.

The working portion 365 of spoon 360 is configured to contact and atleast partially sever a shrimp located on a working surface proximatethe carapace junction of the shrimp when the spoon 360 is in its readyposition and the heading restraint 350 is in its restraint position asdescribed herein. The working portion 365 of spoon 360 extendsdownwardly from mounting portion 367 used to mount the spoon 360 in theheading apparatus 340. In one or more embodiments, the mounting portion367 of the spoon 360 may include features (such as, e.g., pins or postsas seen in FIG. 42 ) configured to define and a spoon axis 361 aboutwhich spoon 360 rotates when moving from its ready position to itsfinish position.

The illustrative embodiment of spoon 360 depicted in FIG. 42 includes anoptional beveled outer edge 366 located on the working portion 365 ofthe spoon 360. A portion of the beveled outer edge 366 faces the workingsurface 314 when the spoon 360 is in its ready position and the headingrestraint 350 is in its restraint position. The beveled outer edge 366may facilitate passage of the working portion 365 of the spoon 360through a shrimp as the heading restraint 350 is moved from its storedposition to its restraint position while the spoon 360 is in its readyposition as described herein.

Spoon 360 also includes an optional spoon notch 364 located in workingportion 365, with the spoon notch 364 terminating at end 363. Spoonnotch 364 opens towards a working surface and a shrimp located thereonwhen spoon 360 is in its ready position and heading restraint 350 is inits restraint position relative to a working surface 314 as describedherein. In one or more embodiments, spoon notch 364 may provideclearance for a mud vein of a shrimp during the heading process suchthat the mud vein is not severed by the working portion 365 of the spoon360 when the spoon is in the ready position and the heading restraint350 is moved into its restraint position.

In one or more embodiments, the spoon notch 364 may have a depth dsmeasured from the opening of the notch 364 to the end 363 of spoon notch364 (that is, in a direction along a length of the spoon notch 364). Inone or more embodiments, the opening of the spoon notch 364 may bedefined by a line extending between the junctions of the beveled outeredge 366 with the opening of the spoon notch 364. The depth ds of spoonnotch 364 may, in one or more embodiments, the long enough such that thespoon 360 can be used with shrimp of a variety of sizes while stillproviding the functions of separating the carapace during heading, aswell as reducing the likelihood of severing the mud vein during heading.

In one or more embodiments, the spoon notch 364 may have a depth dsmeasured from a distal end of the working portion 365 of the spoon 360(where the distal end of the working portion of the spoon 360 may bedefined by a line connecting the junctions of the beveled outer edge 366at the opening of notch 364) to the end 363 of notch 364 that is 10millimeters or more, and, optionally, wherein the depth of the spoonnotch is 20 millimeters or less. The width of the notch proximate amidpoint of the depth of the notch 364 may be, for example, 2millimeters or more on the lower end and 4 millimeters or less on theupper end. When the spoon 360 is in its ready position and the headingrestraint 350 is in its restraint position, the depth ds of the spoonnotch 364 can be measured along a length of the notch in a directiontransverse to the processing axis 311 extending along working surface314 as seen in, for example, FIG. 32 .

With reference to FIGS. 39-41 and 43 , one or more embodiments of thespoon and heading restraint having a guide used in one or moreembodiments of a heading apparatus as described herein may include aspoon having a spoon width that is less than a guide width of the guide.This relationship can be seen in, for example, FIG. 43 , where workingportion 365 of spoon 360 fits within the guide as defined by wings 359extending away from contact portion 355 of heading restraint 350.

In one or more embodiments, the spoon width and the guide width may bemeasured at the widest point of the working portion of the spoon locatedin the guide (which may also be described as being in a directiontransverse to a path of the working portion of the spoon when theworking portion of the spoon is moving away from the contact portion ofthe heading restraint as the spoon moves from the ready position to thefinish position as described herein. In one or more embodiments, themaximum width of the working portion of the spoon located in the guidemay be described as having a width that is 50% or more, 60% or more, 70%or more, 80% or more, or 90% of the guide width at that location. In oneembodiment, the width of the working portion of the spoon may beapproximately 16 millimeters in a guide width of approximately 22millimeters.

In one or more embodiments of the heading apparatus as described hereinincluding a heading restraint having a contact portion with a bevelededge and a working portion of a spoon having a beveled outer edge, thebeveled outer edge 366 of the working portion 365 of the spoon 360 andthe beveled edge 356 of the contact portion 355 of the heading restraint350 are adjacent each other when the spoon 360 is in the ready positionsuch that the working portion 365 of spoon 360 is proximate the contactportion 355 of the heading restraint 350. In such an arrangement, thatbevels on the beveled outer edge 366 of the spoon 360 and the bevelededge 356 of the heading restraint 350 face away from each other suchthat the working portion 365 of the spoon 360 and the contact portion355 of the heading restraint 350 form a double bevel edge when the spoon360 is in the ready position.

One or more embodiments of a heading apparatus as described herein mayinclude a carapace sensor configured to detect a carapace junctionbetween a carapace and an abdominal segment of a shrimp. FIGS. 44-45 canbe used to describe detection of the carapace junction and properpositioning of the heading restraint and spoon based on detection of thecarapace junction.

Many of the components of the heading apparatus 340 as depicted in FIG.38 are also depicted in FIGS. 44-45 , including heading restraint 350and heading restraint actuator 352, both of which are located on headingshuttle 344 for rotation about axis 351. Shuttle 344 is attached toframe 342 for movement along one or more slides 343 aligned with shuttleaxis 341. Also depicted in FIGS. 44-45 are a shrimp 302 located onworking surface 314, the shrimp 302 restrained by a clamp 312 used totransport or convey the shrimp along the processing axis 311. Otherfeatures depicted in FIGS. 44-45 includes the spoon actuator 362 used tomove the spoon 360 from its ready position adjacent the headingrestraint 352 its finish position as described herein.

In one or more embodiments, the carapace sensor may detect the carapacejunction located between the carapace and the first abdominal segment ofa shrimp. In one or more embodiments, the controller operably connectedto the carapace sensor (see, e.g., controller 390 in FIG. 34 ) may beconfigured to detect a change in opacity between a carapace and anabdominal segment of a shrimp on a working surface and identify thecarapace junction based, at least in part, on that change in opacity. Ingeneral, the carapace is darker or more optically dense than the abdomenof a shrimp (due, for example, to the viscera located within thecarapace and the thicker shell of the carapace) which facilitatesoptical detection of the carapace junction as described herein. In oneor more alternative embodiments, the location of the carapace junctionmay be determined based on the measured length of the shrimp (measuredusing, e.g., one or more of the measurement apparatus and methodsdescribed herein) such that optical detection of the carapace junctionis not required.

As described above in connection with FIGS. 36-37 , one illustrativeembodiment of a carapace sensor may include an emitter and receiver,with the emitter emitting optical energy which passes through a shrimpbefore reaching the receiver when a shrimp is located between theemitter and the receiver. Changes in the amount of optical energyreaching the receiver as the carapace sensor moves along a length of theshrimp can be used to identify the carapace junction.

As implemented in connection with the illustrative heading apparatus 340and with reference to FIGS. 44-45 in addition to FIGS. 36-37 , theemitter 368 and receiver 369 may be located on the shuttle 344 such thatthe emitter 368 and receiver 369 are located on opposite sides of ashrimp 302 located on a working surface 314 above which the headingapparatus 340 is positioned. The emitter 368 and receiver define anoptical path that, in one or more embodiments, may be located above theworking surface 314.

With reference to FIGS. 44-45 , the shuttle 344 can be moved along ashuttle axis 341 that is aligned with the processing axis 311. Thatmovement can be effected using a shuttle actuator as described inconnection with, for example, FIGS. 34 and 35 . The heading restraint350 and spoon 360 are, as described herein, mounted on the headingapparatus shuttle 344. In one or more embodiments, a system controller(for example, controller 390 in FIG. 34 ) may be configured to operatethe shuttle actuator 345 to position the heading apparatus shuttle 344such that the heading restraint 350 is positioned on a first abdominalsegment of a shrimp 302 on the working surface 314.

In particular, the heading restraint may be positioned adjacent thecarapace junction of the shrimp 302 when the heading restraint 350 is inthe restraint position on a shrimp 302 on the working surface 314. Inone or more embodiments, the heading restraint 350 may preferably belocated on the abdominal side of the carapace junction. When sopositioned, the spoon 360 may preferably contact a shrimp 302 on theworking surface 340 proximate the carapace junction of the shrimp 302 onthe carapace side of the heading restraint 350 when the headingrestraint is in the restraint position on the shrimp 302 on the workingsurface 314. In one or more embodiments, the spoon 360 may preferablycontact a shrimp 302 on the working surface 314 at the carapace junctionof the shrimp 302.

As seen in FIG. 44 , the heading apparatus shuttle 344 may be positionedsuch that the carapace sensor (as represented by emitter 368 in thisview) is positioned to detect the shrimp 302 on working surface 314within its abdomen. In particular, the carapace sensor may be positionedproximate the clamp 312. While operating the carapace sensor, theshuttle 344 may be moved towards the carapace of the shrimp 302 (thatis, away from the clamp 312), with the controller identifying thecarapace junction when the signal received from the receiver 369 of thecarapace sensor 368/369 indicates that the amount of energy received bythe receiver has fallen below a selected carapace junction threshold.

Because the opacity of individual shrimp can vary to a point at whichdetection of the carapace junction may be difficult if the selectedcarapace junction threshold is fixed, one or more embodiments of headingapparatus as described herein may include a controller that isconfigured to calibrate the carapace sensor on one or more abdominalsegments of each shrimp 302 on the working surface 314 before operatingthe shuttle actuator 345 to position the heading apparatus shuttle suchthat the heading restraint is properly positioned on a shrimp on theabdominal side of the carapace junction.

FIG. 45 depicts the heading apparatus 340 after the shuttle 344 is movedalong the abdomen of the shrimp 302 located on working surface 314(along with the directions of both shuttle axis 341 and processing axis311). In the depicted illustration, the carapace sensor (represented byemitter 368 in FIG. 45 ) is positioned at the carapace junction. Withthe location of the carapace junction known, the shuttle actuator 345can be operated to move the shuttle such that the heading restraint 350,when moved from its stored position to its restraint position, islocated on the abdominal side of the carapace junction such that thespoon (not seen in FIG. 45 ) is located proximate, preferably at, thecarapace junction when the heading restraint 350 is in its restraintposition.

FIGS. 46-47 depicts operation of the illustrative embodiment of headingapparatus 340 to remove the head of shrimp 302. To facilitate a view ofthe operation of the heading apparatus, the side panels of the shuttle344 have been removed so that components located between the side panelsof the shuttle 344 are exposed. Among the components depicted in FIGS.46-47 are heading restraint 350 and heading restraint actuator 352,along with spoon 360 (including the working portion 365 of spoon 360 inFIG. 47 ) and spoon actuator 362. These components are shown while theheading restraint 350 is in its restraint position on the abdomen of ashrimp 302 restrained on working surface 314 using clamp 312. Alsodepicted in FIGS. 46-47 are spoon axis 361 extending through themounting portion 367 of the spoon 360.

In particular, in FIG. 46 the heading restraint 350 is shown in positionon the abdomen of the shrimp 302 while the spoon 360 is in its readyposition relative to the heading restraint 350 such that the workingportion of the spoon is in position proximate the carapace junction,preferably at the carapace junction, of the shrimp 302. The workingportion 365 of spoon 360 is not visible in FIG. 46 because it is locatedon the opposite side of the wings 359 used to guide the carapace of theshrimp during removal. As discussed herein, it may be preferred that theheading restraint 350 be located on the first abdominal segment of theshrimp 302 such that the heading restraint 350 could be described asbeing on the abdominal side of the carapace junction which, as discussedherein, is the junction between the first abdominal segment of theshrimp 302 and its carapace.

FIG. 47 depicts the heading apparatus 340 after the spoon 360 has beenmoved from its ready position to its finish position. In particular,spoon 360 has been rotated about spoon axis 361 such that the workingportion 365 of spoon 360 is now spaced away from the heading restraint350 which continues to restrain the abdomen of the shrimp 302 on workingsurface 314. Although the spoon 360 in the depicted illustrativeembodiment of a heading apparatus as described herein rotates whenmoving between its ready position and its finish position, one or moreembodiments of heading apparatus as described herein may include aworking portion of a spoon that moves in a linear or translationalmotion when moving from its ready position to its finish position.

After completing the motion from the ready position to the finishposition, one or more embodiments of the heading apparatus describedherein may include movement of the spoon 360 back to its ready positionalong with movement of the heading restraint 350 back to its storedposition so that another shrimp 302 can be moved along the processingaxis 311 into the selected heading location on working surface 314.

In one or more embodiments, the heading restraint actuator 352 may be inthe form of a single acting limited force piston capable of moving theheading restraint 350 between its stored position and its restraintposition as described herein. The heading restraint actuator 352 mayinclude a force limiting feature (for example, a spring return cylinder)such that the force of the heading restraint on a shrimp 302 located inthe selected heading location on working surface 314 does not exceed aselected force value. Although a spring-loaded pneumatic piston is usedto provide the reciprocating motion needed to move the heading restraint350 between its stored and restraint positions, many other mechanismscould be used to provide the reciprocating motion, for example, doubleacting pistons, single acting pistons, spring mechanisms, hydraulicactuators, motors, magnetic drivers, etc.

Removal of the head or carapace of a shrimp using a heading apparatus asdescribed herein may be facilitated by a spoon actuator 362 that is inthe form of a damped pneumatic actuator that provides the spoon 360 withadequate force to remove the carapace of a shrimp 302 in a controlledmotion. In one illustrative embodiment, a limited size orifice may beused to control the flow of a hydraulic fluid within the actuator toprovide the damping action that may be beneficial to control removal ofthe heads of shrimp in the heading apparatus described herein.

One illustrative embodiment of a damped spoon actuator 362 that may beused in one or more embodiments of a heading apparatus as describedherein, is depicted in the cross-sectional views in FIGS. 48-49 . Asdepicted in those figures, the actuator 362 is in the form of ahydraulically damped pneumatic actuator that includes a main piston 372and a floating piston 378 located within actuator housing 370. The mainpiston 372 is located within an inner housing 384 that is, itself,located within the actuator housing 370. A main piston port 373 is influid communication with a main piston volume 374 located in theactuator housing 370. A floating piston port 375 is in fluidcommunication with a floating piston volume 376 also located in theactuator housing 370.

The actuator 362 also includes a working piston volume 380 located inthe actuator housing 370 between the main piston 372 and the floatingpiston 378. A flow control orifice 382 and damping liquid are bothlocated in the working piston volume 380. In one or more embodiments,the damping liquid may be in the form of, e.g., mineral oil, althoughmany other hydraulic liquids could be used in place of mineral oil. Theflow control orifice 382 separates the working piston volume 380 into amain portion and a floating portion, with the main portion of theworking piston volume 380 being located between the main piston 372 andthe orifice 382 and the floating portion of the working piston volume380 being located between the floating piston 378 and the orifice 382.

More particularly, the flow control orifice 382 provides a fluid passagebetween the main portion and the floating portion of the working pistonvolume 380. In the depicted embodiment, the flow control orifice 382 islocated in end plug 386 that closes both the actuator housing 370 andthe inner housing 384 at the right end of the view of damped spoonactuator 362 depicted in FIG. 49 . FIG. 49A is a perspective view of theactuator housing 370, inner housing 384 and end plug 386 (with theactuator housing 370 and inner housing 384 being depicted in phantomlines to allow visualization of the end plug 386), with the flow controlorifice 382 being provided in the form of a machined slot formed in endplug 386 that allows fluid to pass between the main and floatingportions of the working piston volume 380 during use of the actuator362.

The introduction of fluid such as, for example, air into the main pistonvolume 374 through the main piston port 373 when at least a portion ofthe damping liquid is located in the main portion of the working pistonvolume 380 (that is, the portion of the working piston volume 380located between the main piston 372 and the orifice 382) forces thedamping liquid out of the main portion of the working piston volume 380into the floating portion through the orifice 382 to move the mainpiston 372 in a first direction relative to the actuator housing 370.Movement of the main piston 372 in the first direction relative to theactuator housing 370 can be seen in the movement of the main piston 372from its position in FIG. 48 to its position in FIG. 49 .

The introduction of fluid such as, for example, air into the floatingpiston volume 376 through the floating piston port 375 when at least aportion of the damping liquid is located in the floating portion of theworking piston volume 380 (that is, the portion of the working pistonvolume 380 located between the floating piston 378 and the orifice 382)forces the damping liquid out of the floating portion of the workingpiston volume 380 into the main portion through the orifice 382 to movethe main piston 372 and a second direction relative to the actuatorhousing 370. Movement of the main piston 372 in the second directionrelative to the actuator housing 370 can be seen in the movement of themain piston 372 from its position in FIG. 49 to its position in FIG. 48.

The flow control orifice 382 may take a variety of forms such as, forexample, an opening formed by drilling, milling, etc. (see, for example,FIG. 49A), a needle valve, or any other suitable flow restrictionconstruction capable of limiting the flow rate of a liquid movingbetween the main and floating portions of the working piston volume 380.

In one or more embodiments of a damped actuator as described herein, themain piston volume 374 may have a maximum main piston volume that isgreater than a volume of the damping liquid in the working piston volume380. In one or more embodiments of a damped actuator as describedherein, the floating piston volume 376 may have a maximum floatingpiston volume that is greater than the volume of the damping liquid inthe working piston volume 380. In one or more embodiments of a dampedactuator as described herein, both of the main piston volume 374 and thefloating piston volume 376 may have maximum piston volumes that aregreater than the volume of the damping liquid in the working pistonvolume 380.

FIG. 50 depicts a variety of shrimp processed by one illustrativeembodiment of a heading apparatus as described herein. In particular,the shrimp depicted in FIG. 50 illustrate one potential advantage of aheading apparatus and methods of heading as described herein. The shrimp302 a, 302 c, and 302 d differ from the shrimp 302 b in that the shrimp302 b retains a significant portion of the neck meat 303. Proper shapingand positioning of the heading restraint and spoon in a headingapparatus as described herein, along with use of a force limitedactuator to move the heading restraint from its stored position to itsrestraint position and a velocity limited damped actuator to move thespoon from its ready position to its finish position may, result inretention of a significant amount of the neck meat 303 on shrimpprocessed using the heading apparatus and methods described herein. Itshould, however, be understood that in one or more embodiments, a cleancut during removal of the carapace may be preferred over retention ofthe neck meat. In one or more embodiments, increasing the force of theheading restraint may assist in severing the shrimp at the carapacejunction in a cleaner, more defined manner.

Peeling Apparatus & Methods

As discussed herein, one or more embodiments of the shrimp processingsystems and methods described herein may include a peeling apparatus andmethods of removing the shells of shrimp. The peeling apparatus may, inone or more embodiments, the capable of removing the shell segments onthe dorsal side of the abdomen of shrimp (the abdominal somites) as wellas removing the pleopods (swimmerets) along with the pereiopods (walkinglegs) found on the ventral side of the abdomen of shrimp. In one or morealternative embodiments, the peeling apparatus and methods describedherein may only remove the pleopods (swimmerets) along with thepereiopods (walking legs) found on the ventral side of the abdomen ofshrimp, leaving the shell segments on the dorsal side of the abdomen ofshrimp intact.

The shrimp processing systems and methods described herein involve apeeling process performed on each shrimp individually while the shrimpis located in a selected location in a peeling apparatus as describedherein. In one or more embodiments, the shrimp may be restrained by aclamp acting on its abdomen at the junction between the rearmost (forexample, sixth) abdominal shell segment and the tail/uropod of eachshrimp during the peeling process.

FIGS. 51-52 are simplified diagrams depicting one illustrativeembodiment of a peeling apparatus 440 as described herein, while FIG. 53depicts a peeling apparatus control system in the form of a schematicblock diagram. The peeling apparatus 440 depicted in FIG. 51 includes alower roller assembly 450 and an upper roller assembly 460. The lowerroller assembly 450 and upper roller assembly 460 are positioned onopposite sides of a processing axis 411 passing through the peelingapparatus 440 as depicted in FIGS. 51-52 . As discussed herein, theprocessing axis 411 defines the path of a shrimp through the variousstations in processing systems as described herein including, forexample, the peeling apparatus 440 depicted in FIGS. 51-52 .

As in other apparatus used in shrimp processing systems as describedherein, the shrimp moving along processing axis 411 may be supported bya working surface 414. In the depicted embodiment of peeling apparatus440, the working surface 414 is separated into two sections located oneach side of the lower roller assembly 450 an upper roller assembly 460,with a shrimp being supported between the lower roller assembly 450 anupper roller assembly 460 during the actual peeling process. As aresult, working surfaces 414 serve to support a shrimp moving into thespace between lower roller assembly 450 an upper roller assembly 460 andafter the shrimp leaves the space between the roller assemblies 450 and460.

The lower roller assembly 450 includes a pair of lower rollers mountedside-by-side for rotation about axes 451 and the upper roller assembly460 includes a pair of upper rollers mounted side-by-side for rotationabout axes 461. In the view depicted in FIG. 51 , only one of the lowerrollers of lower roller assembly 450 and only one of the upper rollersof upper roller assembly 460 are visible because the second rollers ineach assembly are positioned behind the upper and lower rollers viewedin FIG. 51 .

FIG. 52 is an upper view taken along a roller shuttle axis 441 thatextends through the lower roller assembly 450 and upper roller assembly460 in a direction generally transverse to the processing axis 411. As aresult, the pair of upper rollers of upper roller assembly 460 arevisible in FIG. 52 while the pair of lower rollers 450 are not visiblein FIG. 52 because they are positioned beneath the upper roller assembly460.

One or more embodiments of peeling apparatus as described herein includea roller shuttle that is configured to move one or both of the lowerroller assembly 450 and the upper roller assembly 460 between areceiving position and an operating position. The lower roller assembly450 and upper roller assembly 460 are located farther from each otherwhen the lower roller assembly 450 and the upper roller assembly 460 arein the receiving position than when the lower roller assembly 450 anupper roller assembly 460 are in the operating position. With referenceto FIG. 51 , the peeling apparatus 440 is designed such that the upperroller assembly 460 moves while the lower roller assembly 450 remainsstationary when the lower roller assembly 450 an upper roller assembly460 are moved from their receiving position to their operating position.It should, however, be understood that peeling apparatus as describedherein may be designed such that the lower roller assembly 450 moveswhile the upper roller assembly 460 remains stationary or,alternatively, both the lower roller assembly 450 and the upper rollerassembly 460 move when moving the roller assemblies 450 and 460 betweentheir receiving and operating positions.

Movement of the upper roller assembly 460 is illustrated in FIG. 51 ,where upper roller assembly 460 as depicted in solid lines is in thereceiving position while upper roller assembly 460′ (in broken lines)depicts the position of the upper roller assembly 460 when the upper andlower roller assemblies 450 and 460 are in their operating positions toremove the shell of a shrimp located between the upper and lower rollerassemblies 450 and 460.

Another feature depicted in FIGS. 51 to 52 that may be found in one ormore embodiments of peeling apparatus as described herein is analignment device 470 positioned on the working surface 414 such thatshrimp being moved between the lower roller assembly 450 an upper rollerassembly 460 along the processing axis 411 pass over the alignmentdevice 470. As discussed herein, shrimp are moved through the processingstations along a processing axis 411 with the shrimp oriented tailfirst. In other words, the tail of the shrimp passes between upper andlower roller assemblies 450 and 460 followed by the abdomen of theshrimp.

In one or more embodiments, the shrimp may be oriented such that thedorsal side of the shrimp faces the upper roller assembly 460 while theventral side of the shrimp faces lower roller assembly 450. As a result,pleopods and pereiopods located on the ventral side of a shrimppreferably contact the alignment device 470 such that the pleopods andpereiopods may be aligned along the ventral side of the shrimp tofacilitate their removal by the lower roller assembly 450. Morespecifically, the pleopods and pereiopods (if present) may preferably bealigned such that they extend along the abdomen of the shrimp and awayfrom its tail.

The alignment device 470 may take a variety of forms including, forexample, a bed of bristles facing upward away from the working surface414 along a direction aligned with shuttle axis 441. Although a bed ofbristles may be used for alignment device 470, many other texturedsurfaces could be used to provide the alignment functions describedherein. For example, posts, roughened surfaces (for example,sandpaper-like or other structured surfaces, etc.), channels, etc. maybe used in place of a bed of bristles for alignment of the pleopods andpereiopods on a shrimp passing over the alignment device 470. Oneexample of a potentially suitable alignment device may be a section of abrush having polyester bristles with a diameter of approximately 0.2millimeters (see, for example, “Food-Grade Tight-Seal Strip Brush” No.T7442T11 from McMaster Carr Company (mcmaster.com)).

FIG. 53 is a schematic block diagram depicting one control system thatmay be used in connection with the peeling apparatus 440 depicted inFIGS. 51-52 . The control system includes a controller 490 and aconveying system 492 operably connected to the controller. As mentionedherein, the conveying system 492 can be used to move shrimp into and outof the peeling apparatus 440. The controller 490 is also operablyconnected to both a lower roller assembly drive 452 and an upper rollerassembly drive 462, as well as a roller shuttle actuator 446.

In one or more embodiments, the lower roller assembly drive 452 isoperably connected to the pair of lower rollers and configured to rotatea first lower roller about a first lower roller axis 451 passing throughthe first lower roller and rotate a second lower roller about a secondlower roller axis 451 passing through the second lower roller. The upperroller assembly drive 462 is operably connected to the pair of upperrollers and configured to rotate a first upper roller about a firstupper roller axis 461 passing through the first upper roller and rotatea second upper roller about a second upper roller axis 461 passingthrough the second upper roller.

The controller 490 is also operably connected to the roller shuttleactuator used to move one or both of the lower roller assembly 450 andthe upper roller assembly 460 between their receiving and operatingpositions as described herein.

Although the controller 490 is depicted in the form of a singlecontroller in which all control functions may be performed by a singlecontroller (although backup and/or redundant controllers may be providedto assist in the case of failure of a primary controller), one or morealternative embodiments of peeling apparatus may include a distributedset of controllers, with those portions of the apparatus requiring acontroller having a dedicated controller and, potentially, a network maybe used to interconnect the various controllers to facilitate processingof shrimp by the peeling apparatus. Further, the controller 490 (or anyother controllers used in a peeling apparatus as described herein) maybe separate from or integrated into a system controller such as, e.g.,controller 90 depicted in connection with a control system used tocontrol a shrimp processing system as depicted in FIG. 2 .

The controllers used in one or more embodiments of peeling apparatus asdescribed herein may be provided in any suitable form and may, forexample, include memory and a controller. The controller may, forexample, be in the form of one or more microprocessors,Field-Programmable Gate Arrays (FPGA), Digital Signal Processors (DSP),microcontrollers, Application Specific Integrated Circuit (ASIC) statemachines, etc. The controllers may include one or more of any suitableinput devices configured to allow a user to operate the apparatus (e.g.,keyboards, touchscreens, mice, trackballs, etc.), as well as displaydevices configured to convey information to a user (e.g., monitors(which may or may not be touchscreens), indicator lights, etc.).

One illustrative embodiment of a peeling apparatus as described hereinis depicted in FIGS. 54A-54D. In particular, FIG. 54A is a perspectiveview of the depicted illustrative embodiment of a peeling apparatus,FIG. 54B is a side view of the illustrative embodiment of a peelingapparatus of FIG. 54A, with the upper and lower roller assemblies in theoperating position as described herein; and FIG. 54C is a side view ofthe illustrative embodiment of a peeling apparatus of FIG. 54A, with theupper and lower roller assemblies in the receiving position as describedherein. At least a portion of a schematic depiction of a shrimp 402 isprovided in each of FIGS. 54A-54D, these figures do not include a clampused to retain the tail of the shrimp 402 on the working surface 414 onthe downstream side of the peeling apparatus 440. It should beunderstood, however, that the tail of the shrimp 402 is retained on thatdownstream working surface 414 during the peeling process by a clampsimilar to, e.g., clamps 212 and 312 depicted in connection with thevein severing and heading apparatus described herein.

The peeling apparatus includes a lower roller assembly 450 including apair of lower rollers and an upper roller assembly 460 including a pairof upper rollers. Each of the lower rollers 450 rotates about its ownaxis 451, while each of the upper rollers 460 rotate about their ownaxes 461. Those axes 451 and 461 may, in one or more embodiments,preferably be generally aligned with a processing axis 411 along whichshrimp pass when moving into and out of the peeling apparatus 440.

In the depicted illustrative embodiment, upper roller assembly 460 isattached to a shuttle 444 used to move the upper roller assembly 460towards and away from the lower roller assembly 450 (to move the rollerassemblies between their operating position (see FIGS. 54A & 54B) andtheir receiving position (see FIG. 54C)). The shuttle 444 is supportedon a frame 442 which also supports roller shuttle actuator 446 operablyconnected to roller shuttle 444 using a drive pulley 447 and belt 448 inthe depicted embodiment. In the depicted embodiment, roller shuttleactuator 446 may be in the form of an electric motor rotating drivepulley 447. It should, however, be understood that many other drivemechanisms can be used to move roller shuttle 444 towards and away fromthe lower roller assembly 450. For example, hydraulic and/or pneumaticpistons, magnetic drives, etc. could all be used in place of theelectric motor and drive belt system depicted in connection with theillustrative embodiment of peeling apparatus 440 depicted in FIGS.54A-54C. Further, in one or more embodiments, the weight of the rollershuttle alone 444 may be selected and/or adjusted to apply the desiredforce on the dorsal surface of a shrimp 402 located in the peelingapparatus 440 such that no driving force is required other than gravity.

Lower roller assembly 450 and upper roller assembly 460 are positionedbetween a pair of working surfaces 414, one of which is located upstreamof the roller assemblies 450 and 460 and the other of which is locateddownstream of those roller assemblies. As a result, shrimp moving intoand out of the peeling position between the lower roller assembly 450and the upper roller assembly 460 move off of the upstream workingsurface 414 and onto the downstream working surface 414 as they passthrough the peeling apparatus 440 along processing axis 411.

Other components depicted in FIGS. 54A-54C include a lower rollerassembly drive 452 operably connected to the lower rollers of lowerroller assembly 450 and an upper roller assembly drive 462 operablyconnected to the upper rollers of the upper roller assembly 460. In thedepicted illustrative embodiment, the upper roller assembly drive 462may preferably be mounted on the roller shuttle 444 such that the upperroller assembly drive 462 moves with the upper roller assembly 460 tosimplify driving of the upper rollers about their axes as describedherein.

Although the axes 451 and 461 about which the rollers of the lower andupper roller assemblies 450 and 460 rotate may be generally aligned withthe processing axis 411, in one or more embodiments, one or more of thelower roller axes 451 may not be parallel with one or more of the upperroller axes 461. For example, in one or more embodiments one or more ofthe lower roller axes 451 may converge with the upper roller axis 461directly above the corresponding lower roller when moving along theprocessing axis 411 in the processing direction as described herein. Theconvergence between the lower roller axes 451 and upper roller axes 461is schematically depicted in FIG. 54B, where angle β (beta) is the angleformed between the lower roller axes 451 and the upper roller axes 461.In one or more embodiments, the convergence angle β (beta) may begreater than 0°, 1° or more, 2° or more, 3° or more, 4° or more, or 5°or more. At an upper end, the convergence angle β (beta) may be 5° orless, 4° or less, 3° or less, 2° or less, 1° or less, or greater than0°. Convergence of the lower roller axes 451 and the upper roller axes461 may, in one or more embodiments, beneficially result in removal ofthe shell segments closer to the tail of a shrimp before removal of theshell segments located closer to the carapace of the shrimp. This isbeneficial because the shell segments overlap slightly at theirjunctions, with the trailing edge of the shell segment closer to thecarapace being located over the leading edge of the next successiveshell segment.

Another optional feature that may be found in one or more embodiments ofpeeling apparatus as described herein are cleaning nozzles 476 directedat the upper rollers of upper roller assembly 460. The cleaning nozzles476 may be configured to direct water or other cleaning fluids on therollers of both the lower roller assembly and the upper roller assemblyto remove pleopods, pereiopods, shell segments and other debris betweenpeeling processes.

FIG. 54D depicts the upper and lower roller assemblies 450 and 460 in anenlarged view. One feature depicted in the enlarged view of FIG. 54D areribs 454 extending outwardly away from the lower roller and extendingalong the length of the lower roller. Also seen in the enlarged view ofFIG. 54D are shell engagement pins 464 extending outwardly from theupper rollers 460.

Another feature depicted in FIG. 54D is the support plate 467 connectingthe ends of upper rollers 460 located opposite the roller shuttle 444from which upper rollers 460 extend. The support plate 467 assists inmaintaining the proper relationship between the pair of upper rollers460 as they rotate to remove shell segments from shrimp as describedherein.

Another illustrative embodiment of a peeling apparatus as describedherein is depicted in FIGS. 55A-55D. In particular, FIG. 55A is aperspective view of another illustrative embodiment of a peelingapparatus 440′ as described herein with the upper and lower rollerassemblies in the receiving position as described herein; FIG. 55B is aperspective view of the peeling apparatus 440′ of FIG. 55A, with theupper and lower roller assemblies in the operating position as describedherein; FIG. 55C is an enlarged side view of the peeling apparatus ofFIG. 55B depicting the relationship between a clamp, working surface andlower rollers of this illustrative embodiment; and FIG. 55D is a furtherenlarged view of a portion of the peeling apparatus depicted in FIG.55C.

The peeling apparatus 440′ includes a lower roller assembly 450′including a pair of lower rollers and an upper roller assembly 460′including a pair of upper rollers. Each of the lower rollers 450′rotates about its own axis 451′, while each of the upper rollers 460′rotate about their own axes 461′. Those axes 451′ and 461′ may, in oneor more embodiments, preferably be generally aligned with a processingaxis 411′ along which shrimp pass when moving into and out of thepeeling apparatus 440′. The lower rollers 450′ extend between tail ends456′ and head ends 458′, with the tail ends 456′ being locateddownstream of the head ends 458′ (although not numbered, the upperrollers of the peeling apparatus described herein also extend betweentail ends and head ends that are also arranged with the tail endslocated downstream of the head ends of the upper rollers).

In the depicted illustrative embodiment, upper roller assembly 460′ isattached to a shuttle 444′ used to move the upper roller assembly 460′towards and away from the lower roller assembly 450′ in a manner similarto that described herein in connection with peeling apparatus 440 inFIGS. 54A-54D.

Lower roller assembly 450′ and upper roller assembly 460′ are positionedbetween a pair of working surfaces 414′, one of which is locatedupstream of the roller assemblies 450′ and 460′ and the other of whichis located downstream of those roller assemblies. As a result, shrimpmoving into and out of the peeling position between the lower rollerassembly 450′ and the upper roller assembly 460′ move off of theupstream working surface 414′ and onto the downstream working surface414′ as they pass through the peeling apparatus 440′ along processingaxis 411′.

Other components depicted in FIGS. 55A-55B include a lower rollerassembly drive 452′ operably connected to the lower rollers of lowerroller assembly 450′ and an upper roller assembly drive 462′ operablyconnected to the upper rollers of the upper roller assembly 460′. In thedepicted illustrative embodiment, the upper roller assembly drive 462′may preferably be mounted on the roller shuttle 444′ such that the upperroller assembly drive 462′ moves with the upper roller assembly 460′ tosimplify driving of the upper rollers about their axes as describedherein.

Although the axes 451′ and 461′ about which the rollers of the lower andupper roller assemblies 450′ and 460′ rotate may be generally alignedwith the processing axis 411′, in one or more embodiments, one or moreof the lower roller axes 451′ may not be parallel with one or more ofthe upper roller axes 461′ and/or the processing axis 411′. For example,in one or more embodiments one or more of the lower roller axes 451′ mayconverge with the upper roller axis 461′ directly above thecorresponding lower roller when moving along the processing axis 411′ inthe processing direction as described herein. In the illustrativeembodiment of peeling apparatus 440′, one or both of the lower rolleraxes 451′ may also converge with the processing axis 411′ when movingalong the processing axis 411′.

The convergence between the lower roller axes 451′, upper roller axes461′, and processing axis 411′ is schematically depicted in FIG. 55C,where angle θ (theta) is the angle formed between the lower roller axis451′ and the processing axis 411′. In one or more embodiments, theconvergence angle θ (theta) may be greater than 0°, 1° or more, 2° ormore, 3° or more, 4° or more, or 5° or more. At an upper end, theconvergence angle θ (theta) may be 5° or less, 4° or less, 3° or less,2° or less, 1° or less, or greater than 0°.

Also depicted in FIG. 55C, angle c (epsilon) is the angle formed betweenthe upper roller axis 461′ and the processing axis 411′. In one or moreembodiments, the convergence angle c (epsilon) may be greater than 0°,1° or more, 2° or more, 3° or more, 4° or more, or 5° or more. At anupper end, the convergence angle c (epsilon) may be 5° or less, 4° orless, 3° or less, 2° or less, 1° or less, or greater than 0°.

Convergence between any pair of the lower roller axes 451′, upper rolleraxes 461′, and processing axis 411′ may, in one or more embodiments,beneficially result in removal of the shell segments closer to the tailof a shrimp before removal of the shell segments located closer to thecarapace of the shrimp. This is beneficial because the shell segmentsoverlap slightly at their junctions, with the trailing edge of the shellsegment closer to the carapace being located over the leading edge ofthe next successive shell segment.

Another optional feature that may be found in one or more embodiments ofpeeling apparatus as described herein is an offset between the tail ends456′ of the lower rollers 450′ and the working surface 414′ adjacent thetail ends 456′ of the lower rollers 450′. That offset, indicated as doin FIG. 55D, results in the tail ends 456′ of the lower rollers 450′being located closer to the tail ends of the corresponding upper rollers460′ than the adjacent portion of the working surface 414′ as seen inFIG. 55D as measured in a direction transverse to the lower roller axis451′. The offset do results in slight raising of the ventral surface ofa shrimp having its tail retained in the clamp 412′ located above theworking surface 414′ as compared to an alternate arrangement in whichthe tail ends of the lower rollers are flush with or even lower than theworking surface 414′. The offset do may improve the removal of pleopodsand swimmerets on the ventral surface of a shrimp being peeled in thepeeling apparatus as well as the shell segments located closer to thetail of the shrimp.

Another optional feature depicted in connection with the alternativeembodiment of the peeling apparatus 440′ depicted in FIGS. 55A-55D isthe addition of a compression arm 480′ to the peeling apparatus 440′. Inthe depicted illustrative embodiment, the compression arm 480′terminates in a working end 482′ that is configured to act on the dorsalsurface of the tail of shrimp retained in the clamp 412′. In one or moreembodiments, the working end 482′ provides a compressive force to thetail of the shrimp to assist in retaining the shrimp in the clamp 412′during the peeling process. That compressive force is applied throughthe members 484′ and 486′ that, together, support the working end 482′.The working surface 482′ of the compression arm 480′ is, in the depictedembodiment, attached to the roller shuttle 444′ through members 484′ and486′. In the depicted embodiment, the compressive force provided at theworking surface 482′ is controlled by a resilient connection between themember 486′ and the supports 488′ attached to the roller shuttle 44′,with the resilient connection allowing the member 486′ to rotate aboutcompression axis 481′. The resilient connection may include one or moreof elastomeric materials, torsion springs, etc.

In one or more embodiments, the compression arm 480′ may be described asbeing configured to move between a raised position as seen in FIG. 55Aand a compression position as seen in FIGS. 55B (and partially in FIG.55D). The working end 482′ of the compression arm 480′ is located closerto the working surface 414′ of the peeling apparatus 440′ when thecompression arm 480′ is in the compression position of FIGS. 55B and55D) than when the compression arm 480′ is in the raised position ofFIG. 55A.

In embodiments in which the compression arm 480′ is operably connectedto the roller shuttle 444′, the compression arm 480′ is in the raisedposition when the lower roller assembly 450′ and the upper rollerassembly 460′ are in the receiving position (as seen in, e.g., FIG.55A), and the compression arm 480′ is in the compression position whenthe lower roller assembly 450′ and the upper roller assembly 460′ are inthe operating position (as seen in, e.g., FIG. 55B).

In one or more embodiments of any peeling apparatus as described herein,the lower rollers may be used to remove pleopods and any pereiopodspresent on the ventral surface of a shrimp located between the upper andlower roller assemblies 450 and 460. To facilitate capture of thosefeatures, the lower rollers may include raised features to assist withcapture of the pleopods and any pereiopods on the ventral surface of ashrimp located above the lower rollers. In one embodiment, the raisedfeatures may be in the form of ribs extending along the length of thelower rollers 450, with the ribs defining, for each roller an innerdiameter and an outer diameter wherein the inner diameter is located atthe base of each rib and the outer diameter is located at the outermostlocation of each rib.

FIG. 56 schematically depicts one illustrative embodiment of a pair oflower rollers 450 that are configured to capture and remove pleopods andany pereiopods present on the ventral surface of a shrimp locatedbetween the upper and lower roller assemblies 450 and 460. The conceptsillustrated in connection with rollers 450 may be used in connectionwith any peeling apparatus or method described herein. Each of therollers includes an inner diameter 454 that would represent the base ofthe raised features on each lower roller. Each of the rollers alsoincludes an outer diameter 455 that would represent the outermostportions of the raised features on each lower roller. As seen in FIG. 56, it may be preferred that the outer diameter of one roller is locatedbetween the inner and outer diameters of the opposing roller such thatthe raised features interfere as the rollers rotate about their axes451.

Interference between the raised features on the pair of lower rollers450 may involve a complementary meshing of those raised features (forexample, ribs from one roller fit within the spaces between the ribs onthe opposing roller) and/or the interference may involve deformation ofone or both sets of raised features on the lower rollers 450. In placeof elongated ribs, one or more alternative types of raised features mayinclude for example, elastomeric netting wrapped on rollers 450,structured surfaces on the rollers 450 in the form of pins or posts,knurling, etc. Furthermore, the raised features on the rollers 450 maybe the same or different. For example, in one or more embodiments, oneroller may be provided with elongated ribs that extend along the lengthof the roller while the opposing roller may be provided with no raisedfeatures or with a different set of raised features. The raised featuresmay be, in one or more embodiments, constructed of elastomeric orresilient materials that deform during the capture and/or removal ofpleopods and any pereiopods on a shrimp positioned between the rollers450.

FIGS. 57-58 depict one illustrative embodiment of a pair of upperrollers 460 that may be used in one or more embodiments of a peelingapparatus as described herein. The upper rollers 460 may define a headend 468 and a tail end 469, with the head end 468 being located upstreamof the tail end 469 along the processing axis 411. In other words, thehead ends 468 of the upper rollers 460 are located farther from the tailof a shrimp being processed than the tail ends 469. The rollers 460 eachrotate about an axis 461 and are positioned on opposite sides of theprocessing axis 411 along which shrimp move into and out of positionbetween the upper rollers 460 for peeling.

One or both of the upper rollers 460 may, in one or more embodiments,include shell engagement pins 464 protruding outwardly from the outersurfaces of the upper roller 460 (see, also, pins 464 on rollers 460 inFIG. 54D). The shell engagement pins 464 may be configured to pierce orotherwise capture the shell segments on the abdomen of a shrimp whenforced against the shrimp. For example, in one or more embodiments, theshell engagement pins 464 may have tapered bodies having across-sectional area that decreases when moving away from the axis ofthe roller on which the shell engagement pins 464 are located. In one ormore embodiments, shell engagement pins 464 may be located in a recess465 or 466 formed into the outer surface of one or both of the upperrollers 460.

In one or more embodiments, a surface area density of the shellengagement pins 464 may increase when moving along the upper roller axis461 from the head end 468 towards the tail end 469 of the rollers 460.The surface area density of the shell engagement pins 464 may increaseusing a variety of approaches. For example, in one or more embodiments,the spacing between pins 464 may decrease when moving from the head end468 towards the tail end 469 of the rollers 460. Decreasing spacing canbe seen in, for example, pins 464 located in recesses 465 on rollers460.

Another manner in which spacing between pins 464 may decrease whenmoving from the head end 468 towards the tail end 469 of the rollers 460is by including more than one row of pins 464. For example, in theillustrative embodiments of upper rollers 460 depicted in FIG. 57 , asecond row of pins 464 is provided on each of the rollers 460. In one ormore embodiments, a first row of pins 464 may extend over or 80% orless, 70% or less, 60% or less, or 50% or less of a length of the upperroller as measured from its head end 468 to its tail end 469. A secondrow of shell engagement pins may extend over a distance of 50% or more,60% or more, 70% or more, 80% or more, 90% or more, or substantially allof a length of the upper roller 460 as measured from its head end 468 toits tail end 469.

Another optional feature depicted in connection with the upper rollersof FIG. 57 is that one or both of the rollers 460 may be tapered suchthat the roller 460 forms a frusto-conical body that tapers when movingfrom the tail end 469 towards the head end 468 of the roller 460. In oneor more embodiments, the frusto-conical bodies may define an apex angleof 10° or less, 8° or less, 6° or less, 4° or less, or 2° or less asmeasured relative to the axis 461 about which the rollers 460 rotateduring use. The use of tapered rollers may enhance contact between theshell engagement pins 464 and the shell of a shrimp by adapting moreclosely to the shape of the abdomen of a shrimp positioned between theupper rollers 460.

The use of tapered upper rollers 460 may also assist in removing theshell segments closer to the tail of a shrimp before removing the shellsegments located closer to the carapace of the shrimp. As discussedabove in connection with the converging upper and lower roller axes,removal of the rearmost shell segments first is beneficial because theshell segments overlap slightly at their junctions, with the trailingedge of the shell segment closer to the carapace being located over theleading edge of the next successive shell segment. In one or moreembodiments, tapered rollers may be used in addition to or in place ofconverging upper and lower roller axes.

Operation of the lower roller assembly 450 an upper roller assembly 460to remove shell segments from the dorsal side of a shrimp and pleopodsand pereiopods from the ventral side of the abdomen of a shrimp can bedescribed with reference to FIGS. 51, 54, 56 and 58 .

With reference to FIG. 56 , the controller (see, for example, controller490 in FIG. 53 ) operably connected to the lower roller assembly drive452 used to rotate lower rollers 450 as described herein may beconfigured to operate the lower roller assembly drive 452 to rotate eachof the lower rollers about a capture arc, with the opposing rollers 450rotating in opposite directions over their respective capture arcs. Asdepicted in FIG. 56 , each of the rollers 450 may be rotated over acapture arc 457.

In one or more embodiments, the capture arc may be defined by timeand/or by distance. For example, the capture arcs 457 may be the resultof rotating the rollers 450 for a selected period of time using thelower roller assembly drive. Alternatively, the capture arcs 457 may bethe result of rotating the rollers 450 over a selected rotationaldistance. For example, the capture arcs 457 may involve rotation over anarc of 20° or more, 30° or more, 45° or more, 60° or more, 75° or more,90° or more, etc.

In still other embodiments, the capture arcs 457 may be variable. Forexample, in one or more embodiments, the lower roller assembly drive mayrotate one or both of the rollers 450 until a selected amount ofresistance to rotation is encountered with that resistance definingcapture of the pleopods and pereiopods present on the ventral side of ashrimp.

Rotating the first and second rollers 450 about their respective capturearcs 457 may, in one or more embodiments, collect and hold at least onepleopod, a majority of the pleopods on the ventral side of the shrimp,and preferably all of the pleopods and any pereiopods that remain afterheading on the ventral side of the abdomen of a shrimp located betweenthe upper and lower roller assemblies 450 and 460. In addition, captureof the pleopods and pereiopods may also assist in positioning and/orstraightening the abdomen of the shrimp before attempting to removeshell segments from the dorsal side of the shrimp abdomen.

After rotating the lower rollers of the lower roller assembly 450 abouttheir respective capture arcs, the roller shuttle actuator 446 may beoperated to move the upper roller assembly 460 towards the lower rollerassembly 450 such that the upper and lower roller assemblies 450 and 460are moved from the receiving position to the operating position in whichthe upper rollers of upper roller assembly 460 contact the shellsegments on the dorsal side of the shrimp abdomen.

In one or more embodiments, the roller shuttle actuator 446 may beconfigured to provide a limited force to the abdomen of a shrimp locatedbetween the lower and upper roller assemblies 450 and 460. For example,in one or more embodiments in which the roller shuttle actuator 446 isin the form of an electric motor, a torque sensor may be used todetermine the force applied to a shrimp located between the lower andupper roller assemblies 450 and 460 as the upper roller assembly ismoved against the abdomen of the shrimp. Many other techniques andmethods of controlling the force applied to the abdomen of a shrimplocated between the lower and upper roller assemblies 450 and 460 forcemay, alternatively, be used (for example, pressure-controlled pneumaticcylinder or force-limited pneumatic cylinder, etc.).

After the roller shuttle actuator 446 moves the roller shuttle 444carrying upper roller assembly 460 into place such that the upperrollers of upper roller assembly 460 contact the dorsal side of theshrimp abdomen with a sufficient force, the upper roller assembly drive46 2 may be operated by the controller to rotate each of the upperrollers 460 about a peeling arc sufficient to remove shell segments fromthe abdomen of a shrimp.

FIG. 58 depicts one example of a pair of peeling arcs 480. In one ormore embodiments, the peeling arcs 480 of the upper rollers 460 may bein opposite directions. In other words, the upper rollers 460 may berotated in opposite directions such that the shell segments on thedorsal side of a shrimp located between upper rollers 460 are drawn intothe gap between the rollers 460 as the shell segments are removed fromthe abdomen of the shrimp. In one or more embodiments, the peeling arcs480 may involve rotation of the rollers 460 over an arc of 90° or more,120° or more, 150° or more, 180° or more, 240° or more, 300° or more, or360° or more.

At essentially the same time as upper rollers 460 are rotating abouttheir peeling arcs 480, the lower roller assembly drive 452 may rotatethe lower rollers 450 about their axes over a removal arc to remove thepleopods and pereiopods from the ventral side of the abdomen of theshrimp at the same time as the upper rollers 460 are removing the shellsegments from the dorsal side of the abdomen of the shrimp. As a result,the shell segments on the dorsal side of a shrimp abdomen and thepleopods and pereiopods on the ventral side of the shrimp abdomen may beremoved at the same time.

In one or more embodiments, the removal arcs over which the lowerrollers 450 are rotated (see, for example, removal arcs 458 in FIG. 56 )may be greater than the capture arcs 457 over which the lower rollers450 are rotated to capture the pleopods and pereiopods before attemptingto remove the shell segments from the dorsal side of the abdomen of theshrimp. In one or more embodiments, the removal arcs may involverotation of the lower rollers of the lower roller assembly over an arcof 60° or more, 70° or more, 80° or more, 90° or more, 120° or more,150° or more, 180° or more, 240° or more, 300° or more, or 360° or more.

After operating the lower roller assembly to remove the pleopods andpereiopods on the ventral side of the shrimp and the shell segments fromthe dorsal side of the shrimp, the conveying system may be used toremove the shrimp from its position between the lower and upper rollerassemblies 450 and 464 further processing. In general, however, itshould be noted that the peeling station may preferably be located atthe end of a shrimp processing system line such that the shrimp is,after being processed by a peeling apparatus as described herein readyto be unloaded from a clamp or other restraint and if desired, sortedbased on size or other physical characteristics known about the shrimpfrom its processing in any of the other stations in a shrimp processingsystem described herein.

As discussed above, one or more embodiments of peeling apparatus andmethods described herein may only remove the pleopods (swimmerets) alongwith the pereiopods (walking legs) found on the ventral side of theabdomen of shrimp, leaving the shell segments on the dorsal side of theabdomen of shrimp intact. Such shrimp may, for example, be marketed as“shell-on” shrimp and/or “peel and eat” shrimp, with the peeling processbeing simplified because the pleopods (swimmerets) along with thepereiopods (walking legs) found on the ventral side of the abdomen ofshrimp will have already been removed from the abdomen of the shrimp.

The peeling apparatus described above can be used to perform thisselective removal process by simply holding the upper rollers of theupper roller assembly 460 stationary about perspective axes while thelower rollers are operated as discussed above to remove the pleopods(swimmerets) along with the pereiopods (walking legs) found on theventral side of the abdomen of shrimp. It may, however, be beneficial tomove the upper roller assembly 460 and lower roller assembly 450 betweenthe receiving and operating positions as discussed above, with the upperroller assembly 460 serving to stabilize the shrimp during removal ofthe pleopods (swimmerets) along with the pereiopods (walking legs).

Although removal of the pleopods (swimmerets) along with the pereiopods(walking legs) while leaving the shell segments on the dorsal side ofthe abdomen of shrimp intact may be accomplished using the peelingapparatus and methods described and discussed above in connection withFIGS. 51-58 , one or more alternative embodiments of peeling apparatusand methods may involve replacing the upper roller assembly with astabilizing unit which can be referred to herein as an upper assembly.

One illustrative embodiment of an arrangement in which an upper assemblyis used to replace an upper roller assembly is depicted schematically inFIG. 59 . More specifically, a lower roller assembly 450′ is depictedincluding lower rollers that rotate about lower roller axes 451′ in amanner similar to that described above with respect to lower rollerassembly 450. Also depicted in FIG. 59 are an abdomen of the shrimp 402′depicted in a cross-sectional view. The abdomen of the shrimp 402′extends along a processing axis 411′ which is generally aligned with thelower roller axes 451′.

FIG. 59 also includes an upper assembly 460′ it can be used to stabilizethe dorsal surface of the shrimp 402′ during removal of the pleopods(swimmerets) along with the pereiopods (walking legs) in a mannersimilar to that described above with respect to the peeling apparatusdepicted and described in connection with FIGS. 51-58 .

The upper assembly 460′ and the lower roller assembly 450′ are movabletowards and away from each other between a receiving position and anoperating position in a manner similar to that described above withrespect to the peeling apparatus depicted and described in connectionwith FIGS. 51-58 . Although either or both of the upper assembly 460′and lower roller assembly 450′ may be moved to place those components inthe receiving position or operating position as desired, upper assembly460′ is shown spaced apart from the lower roller assembly 450′ in areceiving position as upper assembly 460″ (in broken lines). It shouldbe understood that, alternatively, the lower roller assembly 450′ couldbe moved towards a stationary upper assembly 460′ as discussed herein inconnection with the peeling assembly depicted and described inconnection with FIGS. 51-58 .

Shell Segment Separator Apparatus & Methods

As discussed herein, one or more embodiments of the shrimp processingsystems and methods described herein may include a shell segmentseparator apparatus and methods of separating shell segments of shrimp.As discussed herein, it should be understood that the shell segmentseparator separates the shell segments located on the dorsal surface ofthe abdomen of shrimp processed using systems and described herein.Separation of adjacent pairs of shell segments may, in one or moreembodiments, assist in clean removal (during peeling) of abdominal shellsegments located forward (that is, closer to the carapace) of therearmost abdominal shell segment (where the rearmost abdominal shellsegment is the shell segment located forward of the tail of the shrimp).

In some species of shrimp, physiological structures or connectionsbetween the rearmost abdominal shell segment and the adjacent abdominalshell segment may result in tearing of either or both of the rearmostabdominal shell segment and an adjacent abdominal shell segment. Inshrimp including, for example, six abdominal shell segments (see, forexample, FIG. 3 ), removal of the abdominal shell segments withoutseparating the fifth and sixth abdominal shell segments as describedherein may result in tearing of either or both of the fifth or sixthabdominal shell segments.

As with other shrimp processing systems and methods described herein,the shell segment separator apparatus is performed on each shrimpindividually while the shrimp is located in a selected location relativeto the shell segment separator apparatus as described herein. In one ormore embodiments, the shrimp may be restrained by a clamp acting on itsabdomen at the junction between the rearmost (for example, sixth)abdominal shell segment and the tail/uropod of each shrimp.

FIG. 60 is a perspective view of one illustrative embodiment of a shellsegment separator apparatus 540 as described herein, while FIG. 61depicts a shell segment separator apparatus control system in the formof block diagram. The shell separator apparatus 540 depicted in FIG. 60includes a first shell segment retainer 550 and a second shell segmentretainer 560 positioned along a processing axis 511 passing through theshell segment separator apparatus 540. As discussed herein, theprocessing axis 511 defines the path of shrimp through the variousstations in processing systems as described herein including, forexample, the shell segment separator apparatus 540 depicted in FIG. 60 .Also seen in FIG. 60 is a shrimp 502 restrained by a clamp 512, with theshrimp 502 in a selected location on a working surface relative to theshell segment separator apparatus 540.

The shell segment separator apparatus 540 also includes a carriage 544located above the working surface 514 with the carriage 544 beingmovable along a carriage axis 541 to position the working portions ofthe shell segment separator 540 relative to the shrimp when the shrimpis in a selected location on working surface 514. In addition, the shellsegment separator apparatus 540 also includes a separation shuttle 570configured to move along a shuttle axis 571 to move the second shellsegment retainer 560 relative to the first shell segment retainer 550 toseparate adjacent shell segments on shrimp 502 as described herein. Theactuators used to physically move the carriage 544 and the separationshuttle 570 along their respective axes are located within housing 542of shell segment separator apparatus 540 as depicted in FIG. 60 .Although the depicted actuators provide translational motion to separateadjacent shell segments, rotary motion could be used, especially if therotary motion is relative to an axis of rotation displaced far enoughaway from the processing axis 511 that results, functionally, in motionthat approximates linear movement along the processing axis 511 at thelocation where the shell segments are separated as described herein.

FIG. 61 is a schematic block diagram depicting one control system thatmay be used in connection with the shell segment separator apparatus 540depicted in FIG. 60 . The control system includes a controller 590 and aconveying system 592 operably connected to the controller 590. Asmentioned herein, the conveying system 592 can be used to move shrimpinto and out of the selected location relative to the shell segmentseparator apparatus 540. The controller 590 is also operably connectedto the first retainer actuator 555 the second retainer actuator 565 anda separation actuator 575.

The first retainer actuator 555 is provided to move the first shellsegment retainer 550 between its ready configuration and its retentionconfiguration. The second retainer actuator 565 is provided to move thesecond shell segment retainer 560 between its ready configuration andits retention configuration. The separation actuator 575 is provided tomove the second shell segment retainer 560 between its initial positionand a separation position after operating the first retainer actuator555 to move the first shell segment retainer 550 from its readyconfiguration to its retention configuration and after operating thesecond retainer actuator 565 to move the second shell segment retainer560 from its ready configuration to its retention configuration. In thedepicted illustrative embodiment, the separation actuator 575 moves theseparation shuttle 570 on which the second shell segment retainer islocated to move the second shell segment retainer 560 between itsinitial position and its separation position.

FIGS. 62 and 63 are enlarged perspective views of the shell segmentseparator apparatus of FIG. 60 with the first and second shell segmentretainers 550 and 560 in their respective ready configurations. Asdepicted in the figures, a shrimp 502 is restrained in a clamp 512 in aselected location on working surface 514, with the shrimp up 02 alignedalong the processing axis 511.

In the depicted illustrative embodiment, the first shell segmentretainer 550 includes a pair of jaws 552 that are configured to rotateabout axes 551. Each of the jaws 552 includes one or more pins 554 thatare configured to pierce an abdominal shell segment of the shrimp 502when moved to their retention configuration as described herein.Although both jaws 552 includes pins 554, it should be understood thatin one or more alternative embodiments, pins may not be located on bothjaws 552 of a first shell segment retainer 550 of a shell segmentseparator apparatus as described herein.

With reference to FIG. 63 , a first retainer actuator 555 is depictedand is configured to move a shuttle 556 relative to the carriage 544 torotate jaws 552 about their respective axes 551. Although the depictedfirst retainer actuator 555 is in the form of a pneumatic cylinder, anyof the actuators described herein may take any suitable form including,for example, electric motors, hydraulic motors, pistons (hydraulicand/or pneumatic), solenoids, etc.

Similarly, the second shell segment retainer 560 includes a pair of jaws562 that are configured to rotate about axes 551. Each of the jaws 562also includes one or more pins 564 that are configured to pierce anabdominal shell segment of a shrimp 502 when moved to their retentionconfiguration as described herein. Again, although both jaws 562 includepins 564, it should be understood that in one or more alternativeembodiments, pins may not be located on both jaws 562 of a second shellsegment retainer 560 of a shell segment separator apparatus as describedherein.

While first shell segment retainer 550 is fixed in position relative tothe carriage 544, the second shell segment retainer 560 is mounted onseparation shuttle 570 for movement relative to the first shell segmentretainer 560 and carriage 544. As described herein, the first shellsegment retainer 550 and second shell segment retainer 560 are mountedon carriage 544 for movement along the processing axis 511. Movement ofthe carriage 544 moves the first and second shell segment retainers 550and 560 relative to the clamp 512 restraining shrimp 502 on workingsurface 514 so that the first shell segment retainer 550 and secondshell segment retainer 560 can be properly positioned with the junctionof a pair of adjacent shell segments located between the first shellsegment retainer 550 and second shell segment retainer 560.

Proper positioning of the shell segment separator apparatus 540 relativeto the clamp 512 and/or shrimp 502 on working surface 514 may beachieved using, in one or more embodiments, data from a measurementapparatus as described herein, with the general location of the selectedjunction between adjacent shell segments being determined based on thesize of each shrimp.

FIG. 64 is an enlarged perspective view of the shell segment separatorapparatus of FIG. 63 with the first and second shell segment retainers550 and 560 in their respective retention configurations. With respectto the illustrative embodiments of the first and second shell segmentretainers 550 and 560, the retention configurations of both shellsegment retainers involves rotation of their respective jaws from theready configurations seen in FIGS. 62-63 to the retention configurationsseen in FIG. 64 . In particular, the jaws 552 of first shell segmentretainer 550 and jaws 562 of the second shell segment retainer 560 arelocated farther apart when in their respective ready configurations thanwhen in their respective retention configurations (see, for example,FIG. 64 ).

Although both jaws 552 of first shell segment retainer 550 and both jaws562 of the second shell segment retainer 560 rotate when moving betweentheir respective ready configurations and retention configurations, inone or more alternative embodiments, the respective retainer actuatorsused to move the shell segment retainers between their ready andretention configurations make the jaw of one or both of the first shellsegment retainer 550 and second shell segment retainer 560.

With reference to the depicted illustrative embodiments of the firstshell segment retainer 550 and second shell segment retainer 560, thefirst shell segment retainer 550 and the second shell segment retainer560 may both be described as being located closer to the working surface514 when in their respective retention configurations than when in theirrespective ready configurations.

Referring to FIGS. 62-64 , the differences between the readyconfiguration and retention configuration for the first shell segmentretainer 550 may be described as follows: the first shell segmentretainer 550 is configured to allow for positioning of a shrimp (forexample, shrimp 502) between the first shell segment retainer 550 andthe working surface 514 when the first shell segment retainer 550 is inthe ready configuration as seen in FIGS. 62-63 . Further, the firstshell segment retainer 550 is configured to retain the first shellsegment of a shrimp (for example, shrimp 502) located between the firstshell segment retainer 550 and the working surface 514 in a selectedlocation on the working surface when the first shell segment retainer550 is in its retention configuration as seen in FIG. 64 . With respectto the depicted illustrative embodiment of first shell segment retainer550, it can be seen that positioning of a shrimp (for example, shrimp502) between the first shell segment retainer 550 and the workingsurface 514 when the first shell segment retainer 550 is in itsretention configuration as seen in FIG. 64 would be difficult, if notimpossible.

Again referring to FIGS. 62-64 , the differences between the readyconfiguration and the retention configuration for the second shellsegment retainer 560 may be described as follows: the second shellsegment retainer is configured to allow for positioning of a shrimp (forexample, shrimp 502) between the second shell segment retainer 560 andthe working surface 514 when the second shell segment retainer 560 is inthe ready configuration as seen in FIGS. 62-63 . Further, the secondshell segment retainer 560 is configured to retain a second shellsegment of a shrimp (for example, shrimp 502) located between the secondshell segment retainer 560 and the working surface 514 in a selectedlocation relative to the second shell segment retainer 560 when thesecond shell segment retainer is in its retention configuration as seenin FIG. 64 . With respect to the depicted illustrative embodiment of thesecond shell segment retainer 560 it can be seen that positioning of ashrimp (for example, shrimp 502) between the second shell segmentretainer 560 and the working surface 514 when the second shell segmentretainer 560 is in its retention configuration as seen in FIG. 64 wouldbe difficult, if not impossible.

Operation of the depicted illustrative embodiment of shell segmentseparator apparatus 540 can be discussed with reference to FIGS. 65-66 .FIG. 65 is a side view of the shell segment separator apparatus of FIG.64 , with the second shell segment retainer 560 in its initial position,while FIG. 66 is a side view of the shell segment separator apparatus540 of FIG. 64 after the second shell segment retainer 560 has beenmoved from the initial position to the separation position.

In the depicted illustrative embodiment of shell segment separatorapparatus 540, a separation actuator is used to move the second shellsegment retainer 560 from the initial position seen in FIG. 65 to theseparation position seen in FIG. 66 . The second shell segment retainer560 is located further away from the first shell segment retainer 550when the second shell segment retainer 560 is in the separation positionseen in FIG. 66 than when the second shell segment retainer 560 is inthe initial position seen in FIG. 65 . As seen in FIGS. 65-66 , thesecond shell segment retainer 560 may also be described as moving awayfrom the clamp 512 retaining a shrimp 502 in a selected locationrelative to the shell segment separator apparatus 540. The second shellsegment retainer 560, in the depicted illustrative embodiment, movesalong the processing axis 511 when moving between its initial positionand separation position, with the first shell segment retainer 550 andthe second shell segment retainer 560 being aligned on the processing511.

As described herein, the separation actuator moves the second shellsegment retainer 560 from its initial position to its separationposition after operating the first shell segment retainer 550 from itsready configuration to its retention configuration and after operatingthe second retainer actuator to move the second shell segment retainer560 from its ready configuration to its retention configuration. In oneor more embodiments, the initial position and the separation positionmay be separated from each other along the processing axis 511 by aselected separation distance 566 (see FIG. 66 ).

As a result, movement of the second shell segment retainer 560 to itsseparation position moves the shell segment retained by the second shellsegment retainer 560 away from the shell segment retained by the firstshell segment retainer 550, thereby separating the two shell segments asdiscussed herein. That separation or movement between the two adjacentshell segments breaks or severs connections between the adjacent shellsegments to allow for clean separation at the junction between the twoadjacent shell segments as described herein. Separation of the adjacentshell segments is not intended to remove the adjacent shell segmentsfrom the abdomen of the shrimp. Rather, the shell segments remainattached to the abdomen of the shrimp after separation using the shellsegment separation apparatus described herein.

In one or more embodiments, the positions of the first shell segmentretainer 550 and the second shell segment retainer 560 can be describedrelative to the clamp 512 used to restrain a shrimp in the selectedlocation relative to the shell segment separator apparatus 540. Forexample, the first shell segment retainer 550 may be described as beinglocated between the second shell segment retainer 560 and the clamp 512along the processing axis 511. In one or more embodiments, the firstshell segment retainer 550 may preferably be held stationary or in afixed position relative to the clamp 512 while the second shell segmentretainer 560 is movable relative to both the first shell segmentretainer 550 and the clamp 512 (using, in the depicted illustrativeembodiment, the second retainer shuttle 570). In one or more alternativeembodiments, however, the first shell segment retainer 550 may also moverelative to the clamp 512 and/or the second shell segment retainer 560.

Although the illustrative embodiment of the shell segment separatorapparatus depicted in FIGS. 60 and 62-66 includes shell segmentretainers having jaws that move between the ready and retentionconfigurations, shell segment separator apparatus described herein maynot include movable jaws. FIGS. 67-70 depict one alternativeillustrative embodiment of a shell segment separator apparatus that doesnot include movable jaws.

The shell segment separator apparatus depicted in FIGS. 67-70 includesshell segment retainers 650 and 660 positioned opposite (e.g., above) aworking surface 614 along which a processing axis 611 extends. Becausethe shell segment retainers 650 and 660 are aligned along the processingaxis 611, only shell segment retainer 650 is visible in FIGS. 67 and 68. In FIG. 67 , the shell segment retainers 650 and 660 are in the readyconfiguration in which the shell segment retainers 650 and 660 arespaced apart from the working surface 614 by a distance sufficient toallow for positioning of a shrimp between the shell segment retainers650 and 660 and the working surface 614.

In contrast, the shell segment retainers 650 and 660 are in theirretention configurations in FIGS. 68-70 such that shell segments of ashrimp positioned between the shell segment retainers 650 and 660 andthe working surface 614 in a selected location on the working surface614 are retained in the selected location. In the depicted embodiment,the shell segment retainers 650 and 660 are located closer to theworking surface 614 in their retention configurations than when theshell segment retainers are in their ready configurations.

The depicted illustrative embodiment of shell segment retainer 650 asdepicted in FIGS. 67-70 includes a notch 652 configured to receive theabdomen of a shrimp such that the notch rests on or faces the dorsalsurface of a shrimp in the selected location on working surface 614 withits ventral surface facing or resting on the working surface 614.Similarly, the depicted illustrative embodiment of shell segmentretainer 660 as depicted in FIGS. 69-70 includes a notch 662 configuredto receive the abdomen of a shrimp such that the notch 662 rests on orfaces the dorsal surface of a shrimp in the selected location on workingsurface 614 with its ventral surface facing or resting on the workingsurface 614.

The illustrative embodiment of shell segment retainer 650 as depicted inFIGS. 67-70 also includes pins 654 positioned in the notch 652 such thatthe pins engage (e.g., pierce) a shell segment on the dorsal surface ofa shrimp in the selected location on working surface 614 with itsventral surface facing or resting on the working surface 614. Similarly,the depicted illustrative embodiment of shell segment retainer 660 asdepicted in FIGS. 69-70 also includes pins 664 positioned in the notch662 such that the pins 664 engage (e.g., pierce) a shell segment on thedorsal surface of a shrimp in the selected location on working surface614 with its ventral surface facing or resting on the working surface614.

The cross-sectional views of FIGS. 69-70 can be used to describemovement of the shell segment retainers 650 and 660 from the initialposition (see, e.g., FIG. 69 ) to the separation position (see, e.g.,FIG. 70 ). In particular, the shell segment retainers 650 and 660 arecloser together when in the initial position of FIG. 69 than when in theseparation position of FIG. 70 . In other words, the distance di betweenthe shell segment retainers 650 and 660 in the initial position of FIG.69 is less than the distance ds between the shell segment retainers 650and 660 in the separation position of FIG. 70 (or, conversely, thedistance ds between the shell segment retainers 650 and 660 in theseparation position of FIG. 70 is greater than the distance di betweenthe shell segment retainers 650 and 660 in the initial position of FIG.69 .

Although not depicted, it should be understood that yet anotherillustrative embodiment of a shell segment separator apparatus couldinclude one shell segment retainer having movable jaws as depicted in,e.g., FIGS. 60 and 62-66 and one shell segment retainer including anotch and pins as depicted in, e.g., FIGS. 67-70 .

In terms of methods, shell segment separation may involve separatingadjacent shell segments on an abdomen of a shrimp (for example, shrimp502), with the method including retaining a first shell segment on anabdomen of a shrimp in a fixed location relative to a processing axis(for example, a processing axis 511), moving a second shell segment onthe abdomen of the shrimp away from the first shell segment in adirection aligned with the processing axis while retaining the firstshell segment in the fixed location. Moreover, the first and secondshell segments remain attached to the abdomen of the shrimp afterseparation of the adjacent shell segments.

In one or more embodiments of the shell segment separation as describedherein, the adjacent shell segments may be described as the rearmostabdominal shell segment of the shrimp (that is, the shell segmentclosest to the tail of the shrimp) and the adjacent shell segmentlocated on the opposite side of the rearmost abdominal shell segment. Interms of shrimp having, for example, six abdominal shell segments, therearmost abdominal shell segment would be the sixth shell segment, whilethe adjacent or second abdominal shell segment would be the fifth shellsegment. In the depicted illustrative embodiment, the shell segmentseparator apparatus 540 holds the sixth shell segment in a fixedlocation using the first shell segment retainer 550 while the shellsegment separator apparatus 540 moves the fifth shell segment away fromthe sixth shell segment using the second shell segment retainer 560.

Although the shell segment separator apparatus and methods of using thesame may preferably involve separation of the rearmost and adjacentshell segments, alternative embodiments of the shell segment separatorapparatus and methods described herein may involve separation of anyadjacent pair of shell segments on shrimp processed using the shrimpprocessing systems described herein.

ILLUSTRATIVE ASPECTS

Following are some additional illustrative aspects of the shrimpprocessing systems, shrimp processing stations, and methods describedherein.

Mud Vein Severing Apparatus

In independent aspect A1, a mud vein severing apparatus as describedherein comprises: a vein severing module comprising a blade comprising asharpened working edge and a blade actuator configured to move the bladebetween a stored position and a severed position; an optionalmeasurement module configured to measure a length of a shrimp held in aclamp moving through the measurement module along a measurementdirection; a controller operably connected to the blade actuator and theoptional measurement module, wherein the controller is configured to:optionally receive a signal indicative of the length of the shrimp fromthe measurement module; and activate the blade actuator to move theblade from the stored position to the severed position when a shrimp isin a selected severing location, wherein the blade actuator moves theblade along a severing path generally transverse to the measurementdirection.

In aspect A2 according to aspect A1, the cutting edge of the bladecomprises a curved edge.

In aspect A3 according to any one of aspects A1 to A2, the cutting edgeof the blade faces away from the ventral side of a shrimp in theselected severing location as the blade moves along the severing path.

In aspect A4 according to any one of aspects A1 to A3, the severing pathcomprises a rectilinear path.

In aspect A5 according to any one of aspects A1 to A4, the vein severingmodule comprises a severing restraint configured to fix a position of ashrimp held in a clamp, wherein the severing restraint is operablyattached to a severing restraint actuator configured to move thesevering restraint between a withdrawn position and a restraintposition, wherein a shrimp held in a clamp in the selected severinglocation is restrained by the severing restraint when the severingrestraint is in the restraint position, and wherein the severingrestraint actuator is operably connected to the controller, wherein thecontroller is configured to operate the severing restraint actuator tomove the severing restraint to the restraint position when a shrimp heldin a clamp is in the selected severing location and before the bladeactuator is operated to move the blade along the severing path.

In aspect A6 according to aspect A5, the severing restraint is locatedbetween the blade and the clamp when a shrimp held in a clamp is in theselected severing location and the severing restraint is in therestraint position.

In aspect A7 according to any one of aspects A5 to A6, the restraintactuator comprises a force limited actuator configured to apply aselected force to a shrimp through the severing restraint when thesevering restraint is in the restraint position.

In aspect A8 according to any one of aspects A5 to A7, a position of thesevering path is fixed relative to the severing restraint such that thesevering restraint is configured to set a position of the blade relativeto a shrimp held in a clamp in the selected severing location when thesevering restraint is in the restraint position.

In aspect A9 according to any one of aspects A5 to A8, the severingrestraint comprises a notch, and wherein the notch is configured tocontact a dorsal side of a shrimp held in a clamp in the selectedsevering location, wherein the position of the severing path is fixedrelative to the notch.

In aspect A10 according to aspect A9, the notch comprises a beveledsurface extending from a tail side of the severing restraint to acarapace side of the restraint, and wherein the notch is larger on thecarapace side of the severing restraint than on the tail side of thesevering restraint.

In aspect A11 according to any one of aspects A5 to A10, the controlleris configured to operate the blade actuator to return the blade to thestored position from the severed position before operating the severingrestraint actuator to return the severing restraint to the withdrawnposition after operating the blade actuator to move the blade from thestored position to the severed position.

In aspect A12 according to any one of aspects A1 to A11, the veinsevering module comprises a vein severing module drive configured tomove the blade and the blade actuator along the measuring direction,wherein the vein severing module drive is operably connected to thecontroller, and wherein the controller is configured to operate the veinsevering module to adjust a position of the blade along the measuringdirection before actuating the blade actuator.

In any embodiments of the mud vein severing apparatus, the controller isconfigured to operate the vein severing module to adjust a position ofthe blade along the measuring direction based at least in part on thelength of the shrimp.

In aspect A13 according to any one of aspects A1 to A12, the measurementmodule comprises a non-contact sensor configured to detect the clamp anda shrimp held in the clamp, the non-contact sensor operably connected tothe controller to deliver signals indicative of energy received by thenon-contact sensor, wherein the controller is configured to: identify ajunction between a clamp and a shrimp held in the clamp when moving ashrimp held in the clamp through the non-contact sensor based on asignal received from the non-contact sensor; determine a length of ashrimp held in a clamp after identifying the junction between a clampand a shrimp held in a clamp based at least in part on a signal receivedfrom the non-contact sensor; and optionally, determine a weight of ashrimp held in a clamp after determining the length of a shrimp held ina clamp based at least in part on the length of a shrimp held in aclamp.

In aspect A14 according to aspect A13, the controller is configured toidentify a junction between a clamp and a shrimp when the signalreceived from the non-contact sensor reaches or falls below a selectedclamp threshold value.

In aspect A15 according to any one of aspects A13 to A14, the controlleris configured to determine a length of a shrimp when the signal receivedfrom the non-contact sensor reaches or exceeds a selected antennathreshold value.

In aspect A16 according to any one of aspects A13 to A15, thenon-contact sensor comprises an optical sensor or an ultrasonic sensor.

In aspect A17 according to any one of aspects A13 to A16, the controlleris configured to operate the non-contact sensor to calibrate thenon-contact sensor before every shrimp held in a clamp passes throughthe non-contact sensor in the measurement direction.

In aspect A18 according to any one of aspects A13 to A16, the controlleris configured to operate the non-contact sensor to calibrate thenon-contact sensor after a selected number of shrimp held in a clamppass through the non-contact sensor in the measurement direction.

Independent aspect B0 comprises a method of severing a vein of a shrimpusing an apparatus according to any one of aspects A1 to A18.

Method of Severing Mud Vein

In independent aspect B1, a method of severing a mud vein of a shrimpcomprises: positioning a shrimp in a selected severing location; andmoving a blade through the shrimp along a severing path orientedgenerally transverse to a length of the shrimp as measured from acarapace to a tail of the shrimp, wherein the blade passes through ashell of the shrimp at a selected depth proximate a junction between arearmost abdominal shell segment and an adjacent abdominal shell segmentof the shrimp, wherein the rearmost abdominal shell segment is locatedbetween the adjacent abdominal shell segment and the tail of the shrimp.

In aspect B2 according to aspect B1, the method comprises determining aposition of the junction between the rearmost abdominal shell segmentand the adjacent abdominal shell segment of the shrimp based at least inpart on a length of the shrimp.

In aspect B3 according to any one of aspects B1 to B2, the methodcomprises measuring the length of the shrimp before moving the bladethrough the shrimp.

In aspect B4 according to any one of aspects B1 to B3, a cutting edge ofthe blade faces a dorsal surface of the shrimp and away from a ventralsurface of the shrimp. In aspect B5 according to aspect B4, the cuttingedge of the blade is curved along a length of the blade.

In aspect B6 according to any one of aspects B1 to B5, the severing pathcomprises a rectilinear path.

In aspect B7 according to any one of aspects B1 to B6, the methodfurther comprises adjusting a position of the blade along the length ofthe shrimp such that the blade passes through the shrimp at a locationproximate the junction between the between the rearmost abdominal shellsegment and the adjacent abdominal shell segment of the shrimp when theblade moves through the shrimp along the severing path. In aspect B8according to aspect B7, adjusting the position of the blade comprisesadjusting the position of the blade at least in part based on a measuredlength of the shrimp.

In aspect B9 according to any one of aspects B1 to B8, the methodfurther comprises determining a height of the dorsal surface of theshrimp proximate the junction between the rearmost abdominal shellsegment and the adjacent abdominal shell segment before moving the bladethrough the shrimp. In aspect B10 according to aspect B9, determiningthe height of the dorsal surface of the shrimp proximate the junctionbetween the rearmost abdominal shell segment and the adjacent abdominalshell segment comprises contacting a dorsal surface of the rearmostshell segment with a shrimp restraint before moving the blade throughthe shrimp. In aspect B11 according to aspect B10, a location of thesevering path is fixed relative to the shrimp restraint. In aspect B12according to aspect B11, the shrimp restraint comprises a notch, andwherein the method comprises restraining the shrimp from movement in adirection aligned with the severing path.

In aspect B13 according to any one of aspects B10 to B12, the methodcomprises forcing the shrimp restraint against the dorsal surface of theshrimp with a force-limited actuator.

In aspect B14 according to any one of aspects B1 to B13, the methodcomprises restraining the shrimp from movement in a direction alignedwith the severing path before moving the blade through the shrimp alongthe severing path. In aspect B15 according to aspect B14, moving theblade through the shrimp along the severing path comprises moving theblade from a stored position to a severed position, and wherein themethod comprises returning the blade back to the stored position fromthe severed position after moving the blade through the shrimp from thestored position to the severed position along the severing path. Inaspect B16 according to aspect B15, returning the blade back to thestored position from the severed position comprises moving the bladealong the severing path.

In aspect B17 according to any one of aspects B14 to B16, the methodcomprises restraining the shrimp from movement in a direction alignedwith the severing path while returning the blade back to the storedposition from the severed position.

Heading Apparatus

In independent aspect C1, a shrimp heading apparatus comprises: aheading restraint positioned opposite a working surface; a headingrestraint actuator configured to move the heading restraint between astored position and restraint position relative to the working surface,wherein the heading restraint is spaced from the working surface toallow for positioning of a shrimp between the heading restraint and theworking surface when the heading restraint is in the stored position,and wherein the heading restraint is closer to the working surface whenthe heading restraint is in the restraint position than when the headingrestraint is in the stored position such that the heading restraint isconfigured to force a shrimp located between the heading restraint andthe working surface against the working surface when the headingrestraint is in the restraint position; a spoon; a spoon actuatorconfigured to move the spoon along a spoon path between a ready positionand finish position relative to the heading restraint, wherein a workingportion of the spoon is proximate a carapace side of the headingrestraint when the spoon is in the ready position and wherein theworking portion of the spoon is spaced away from the carapace side ofthe heading restraint when the spoon is in the finish position such thatthe working portion of the spoon is configured to separate a head of ashrimp on the working surface from an abdomen of the shrimp when thespoon moves from the ready position to the finish position; and acontroller operably connected to the heading restraint actuator and thespoon actuator, the controller configured to: operate the headingrestraint actuator to move the heading restraint from the storedposition to the restraint position, operate the spoon actuator to movethe spoon along the spoon path from the ready position to the finishposition after operating the head restraint actuator to move the headingrestraint to the restraint position, and operate the heading restraintactuator to return the heading restraint to the stored position afteroperating the spoon actuator to move the spoon to the finish position.

In aspect C2 according to aspect C1, the controller is configured tooperate the spoon actuator to return the spoon to the ready positionafter operating the head restraint actuator to return the headingrestraint to the stored position.

In aspect C3 according to aspect C1, the controller is configured tooperate the spoon actuator to return the spoon to the ready positionbefore operating the head restraint actuator to return the headingrestraint to the stored position.

In aspect C4 according to any one of aspects C1 to C3, the headingrestraint actuator comprises a force-limited actuator configured toapply a compressive restraint force up to a selected restraint forcelimit on a shrimp located on the working surface between the headingrestraint and the working surface.

In aspect C5 according to any one of aspects C1 to C4, the spoonactuator comprises a velocity-limited actuator configured to move theworking portion of the spoon from the ready position to the finishposition at a selected maximum velocity.

In aspect C6 according to any one of aspects C1 to C5, the workingportion of the spoon moves closer to the working surface while movingalong the spoon path after leaving the ready position than when theworking portion of the spoon is in the ready position. In aspect C7according to aspect C6, the working portion of the spoon is closest tothe working surface when the working portion of the spoon is at aselected location along the spoon path that is between the readyposition and the finish position.

In aspect C8 according to any one of aspects C1 to C7, the workingportion of the spoon comprises a spoon notch comprising a spoon notchopening facing the working surface when the spoon is in the readyposition and the heading restraint is in the restraint position. Inaspect C9 according to aspect C8, the heading restraint comprises arestraint notch, wherein a restraint notch opening of the restraintnotch faces the working surface and any shrimp located between therestraint notch and the working surface, and wherein the spoon notch isaligned with and adjacent the restraint notch when the working portionof the spoon is in the ready position. In aspect C10 according to anyone of aspects C8 to C9, when the heading restraint is in the restraintposition, the spoon notch has a depth measured from the working surfaceto a spoon notch end distal from the working surface that is sufficientto clear a mud vein of a shrimp located on the working surface betweenthe heading restraint and the working surface such that the spoon doesnot sever the mud vein. In aspect C11 according to any one of aspects C8to C10, the spoon notch is wider in a direction transverse to the spoonpath at the spoon notch opening than at a spoon notch end of the spoonnotch located distal from the working surface. In aspect C12 accordingto any one of aspects C8 to C11, when the heading restraint is in therestraint position and the working portion of the spoon is in the readyposition, the spoon notch has a depth measured from the working surfaceto a spoon notch end distal from the working surface that is 10millimeters or more, and, optionally, wherein the depth of the spoonnotch is 20 millimeters or less.

In aspect C13 according to any one of aspects C1 to C12, the headingrestraint defines a contact portion configured to contact a shrimplocated on the working surface between the contact portion and theworking surface when the heading restraint is in the restraint position,and wherein the heading restraint comprises a guide extending away fromthe contact portion, wherein a head of a shrimp located on the workingsurface between the contact portion and the working surface when theheading restraint is in the restraint position is located within theguide of the heading restraint, and wherein the working portion of thespoon moves away from the contact portion and past the guide when movingfrom the ready position to the finish position. In aspect C14 accordingto aspect C13, the guide comprises a pair of wings defining a channelbetween the pair of wings, wherein a head of a shrimp located on theworking surface between the contact portion and the working surface whenthe heading restraint is in the restraint position is located in thechannel between the pair of wings, and wherein the working portion ofthe spoon moves between the pair of wings during at least a portion of apath of the working portion of the spoon when the spoon moves from theready position to the finish position. In aspect C15 according to anyone of aspects C13 to C14, the working portion of the spoon comprises aspoon width that is less than a guide width of the guide, wherein thespoon width and the guide width are measured transverse to the spoonpath. In aspect C16 according to aspect C15, the maximum width of theworking portion of the spoon as measured within the guide is 50% ormore, 60% or more, 70% or more, 80% or more, or 90% of the guide width.

In aspect C17 according to any one of aspects C1 to C16, the workingportion of the spoon comprises a beveled outer edge.

In aspect C18 according to any one of aspects C1 to C16, the headingrestraint comprises a beveled edge facing the working surface when theheading restraint is in the restraint position.

In aspect C19 according to any one of aspects C1 to C16, the workingportion of the spoon comprises a beveled outer edge and the headingrestraint comprises a beveled edge facing the working surface when theheading restraint is in the restraint position, wherein the beveledouter edge of the working portion of the spoon and the beveled edge ofthe heading restraint are adjacent each other when the spoon is in theready position such that bevels on the beveled outer edge of the workingportion of the spoon and the beveled edge of the heading restraint faceaway from each other, wherein the working portion of the spoon and theheading restraint form a double bevel edge when the spoon is in theready position.

In aspect C20 according to any one of aspects C1 to C19, the headingapparatus comprises a carapace sensor operably connected to thecontroller, the carapace sensor configured to detect a carapace junctionbetween a carapace and an abdominal segment of a shrimp on the workingsurface. In aspect C21 according to aspect C20, the controller isconfigured to detect a change in opacity between a carapace and anabdominal segment of a shrimp on the working surface and identify thecarapace junction based, at least in part, on the change in opacity. Inaspect C22 according to any one of aspects C20 to C21, the headingapparatus comprises a heading restraint locator operably connected tothe controller, wherein the controller is configured to operate theheading restraint locator to position the heading restraint on a firstabdominal segment of a shrimp on the working surface adjacent thecarapace junction when the heading restraint is in the restraintposition on a shrimp on the working surface.

In aspect C23 according to aspect C22, the controller is configured tocalibrate the carapace sensor on an abdominal segment of a shrimp on theworking surface before operating the heading restraint locator toposition the heading restraint on the first abdominal segment of ashrimp on the working surface.

In aspect C24 according to aspect C22, the controller is configured tocalibrate the carapace sensor on an abdominal segment of a shrimp on theworking surface after moving the heading restraint to the storedposition and before operating the heading restraint locator to positionthe heading restraint on the first abdominal segment of a shrimp on theworking surface.

In aspect C25 according to any one of aspects C20 to C24, the headingapparatus comprises a spoon locator operably connected to thecontroller, wherein the controller is configured to operate the spoonlocator to position the spoon such that the spoon contacts a shrimp onthe working surface proximate the carapace junction on a carapace sideof the heading restraint when the heading restraint is in the restraintposition on a shrimp on the working surface and the spoon is movingtowards the working surface from the ready position.

In aspect C26 according to aspect C25, the controller is configured tocalibrate the carapace sensor on an abdominal segment of a shrimp on theworking surface before operating the spoon locator to position the spoonsuch that the spoon contacts a shrimp on the working surface proximatethe carapace junction on a carapace side of the heading restraint whenthe heading restraint is in the restraint position on a shrimp on theworking surface and the spoon is moving towards the working surface fromthe ready position.

In aspect C27 according to any one of aspects C25 to C26, the controlleris configured to calibrate the carapace sensor on an abdominal segmentof a shrimp on the working surface after moving the spoon to the readyposition and before operating the spoon locator to position the spoonsuch that the spoon contacts a shrimp on the working surface proximatethe carapace junction on a carapace side of the heading restraint whenthe heading restraint is in the restraint position on a shrimp on theworking surface and the spoon is moving towards the working surface fromthe ready position

In aspect C28 according to any one of aspects C20 to C27, the headingapparatus comprises a heading apparatus shuttle and a shuttle actuatorconfigured to move the heading apparatus shuttle, wherein the shuttleactuator is operably connected to the controller, wherein the headingrestraint, heading restraint actuator, spoon, and spoon actuator aremounted on the heading apparatus shuttle, and wherein the controller isconfigured to operate the shuttle actuator to position the headingapparatus shuttle such that the heading restraint is positioned on afirst abdominal segment of a shrimp on the working surface adjacent thecarapace junction when the heading restraint is in the restraintposition on a shrimp on the working surface and such that the spooncontacts a shrimp on the working surface proximate the carapace junctionon a carapace side of the heading restraint when the heading restraintis in the restraint position on a shrimp on the working surface and theworking portion of the spoon is moving towards the working surface fromthe ready position. In aspect C29 according to aspect C28, the carapacesensor is mounted on the heading apparatus shuttle.

In aspect C30 according to any one of aspects C28 to C29, the controlleris configured to calibrate the carapace sensor on an abdominal segmentof a shrimp on the working surface before operating the shuttle actuatorto position the heading apparatus shuttle such that the headingrestraint is positioned on a first abdominal segment of a shrimp on theworking surface adjacent the carapace junction when the headingrestraint is in the restraint position on a shrimp on the workingsurface and such that the working portion of the spoon contacts a shrimpon the working surface proximate the carapace junction on a carapaceside of the heading restraint when the heading restraint is in therestraint position on a shrimp on the working surface and the workingportion of the spoon is moving towards the working surface from theready position.

In aspect C31 according to any one of aspects C1 to C30, the spoonactuator comprises a hydraulically damped pneumatic actuator comprising:a main piston and a floating piston located within an actuator housing;a main piston port in fluid communication with a main piston volumelocated in the actuator housing; a floating piston port in fluidcommunication with a floating piston volume located in the actuatorhousing; a working piston volume located in the actuator housing betweenthe main piston and the floating piston; and a flow control orifice anddamping liquid in the working piston volume, wherein the flow controlorifice separates the working piston volume into a main portion and afloating portion; wherein fluid introduced into the main piston volumethrough the main piston port when at least a portion of the dampingliquid is located in the main portion of the working piston volumeforces the damping liquid out of the main portion into the floatingportion through the flow control orifice to move the floating piston ina first direction relative to the actuator housing; and wherein fluidintroduced into the floating piston volume through the floating pistonport when at least a portion of the damping liquid is located in thefloating portion of the working piston volume forces the damping liquidout of the floating portion into the main portion through the flowcontrol orifice to move the floating piston in a second directionrelative to the actuator housing, wherein the first direction isopposite from the second direction.

In aspect C32 according to aspect C31, the flow control orifice consistsessentially of an opening through which the damping liquid passes whenmoving between the main portion and the floating portion of the workingvolume. In aspect C33 according to aspect C31, the flow control orificecomprises a needle valve.

In aspect C34 according to any one of aspects C31 to C33, the mainpiston volume comprises a maximum main piston volume that is greaterthan a volume of the damping liquid in the working piston volume.

In aspect C35 according to any one of aspects C31 to C33, the floatingpiston volume comprises a maximum floating piston volume that is greaterthan a volume of the damping liquid in the working piston volume.

In aspect C36 according to any one of aspects C31 to C33, the mainpiston volume comprises a maximum main piston volume that is greaterthan a volume of the damping liquid in the working piston volume; andwherein the floating piston volume comprises a maximum floating pistonvolume that is greater than the volume of the damping liquid in theworking piston volume.

Heading Methods

In independent aspect D1, one or more embodiments of methods of removinga head of a shrimp comprise: restraining an abdomen of a shrimp in afixed position on a working surface; moving a spoon through the shrimpproximate a carapace junction of the shrimp, wherein the carapacejunction is located between a carapace and a first abdominal segment ofthe shrimp; and moving the spoon away from the abdomen while restrainingthe abdomen of the shrimp in the fixed position on the working surface,wherein moving the spoon away from the abdomen separates the carapace ofthe shrimp from the abdomen of the shrimp.

In aspect D2 according to aspect D1, restraining an abdomen comprisesforcing the abdomen against the working surface using a headingrestraint, wherein the abdomen is located between the heading restraintand the working surface. In aspect D3 according to aspect D2,restraining an abdomen comprises forcing the abdomen against the workingsurface by moving a heading restraint towards the working surface.

In aspect D4 according to any one of aspects D1 to D3, restraining anabdomen comprises restraining a first abdominal segment of the abdomenof the shrimp, wherein the first abdominal segment is immediatelyadjacent the carapace of the shrimp. In aspect D5 according to aspectD4, the method further comprises determining the location of thecarapace junction before restraining the first abdominal segment of theshrimp. In aspect D6 according to aspect D5, determining the location ofthe carapace junction comprises optically detecting the carapacejunction.

In aspect D7 according to any one of aspects D5 to D6, determining thelocation of the carapace junction comprises detecting the carapacejunction using a carapace sensor, and wherein the method comprisescalibrating the carapace sensor on an abdominal segment of the abdomenbefore detecting the carapace junction. In aspect D8 according to aspectD7, for each shrimp of a plurality of shrimp, the method comprisescalibrating the carapace sensor on an abdominal segment of the beforedetecting the carapace junction.

In aspect D9 according to any one of aspects D1 to D8, moving the spoonaway from the abdomen comprises moving a working portion of the spoonalong a spoon path that is arcuate over at least a portion of the spoonpath. In aspect D10 according to aspect D9, the working portion of thespoon moves closer to the working surface as the spoon moves away fromthe abdomen of the shrimp.

In aspect D11 according to any one of aspects D1 to D10, the methodcomprises moving the spoon away from the abdomen restrained in the fixedposition after moving the spoon through the shrimp.

In aspect D12 according to any one of aspects D1 to D11, moving thespoon away from the abdomen restrained in the fixed position comprisesremoving a mud vein from the shrimp while moving the spoon away from theabdominal segment.

In aspect D13 according to aspect D12, the method comprises severing themud vein of the shrimp before moving the spoon away from the abdominalsegment. In aspect D14 according to aspect D13, severing the mud veincomprises severing the mud vein at a selected location closer to a tailof the shrimp than the carapace of the shrimp. In aspect D15 accordingto aspect D14, the selected location is proximate a junction between arearmost abdominal shell segment and an adjacent abdominal shell segmentof the shrimp, wherein the rearmost abdominal shell segment is locatedbetween the adjacent abdominal shell segment and the tail of the shrimp.

In aspect D16 according to any one of aspects D13 to D15, severing themud vein comprises moving a blade through the shrimp along a severingdirection, wherein the blade passes through a shell of the shrimp at aselected depth, and wherein the severing direction is generallytransverse to a length of the shrimp as measured between the carapaceand the tail of the shrimp.

In aspect D17 according to any one of aspects D15 to D16, the methodcomprises determining a position of the junction between the rearmostabdominal shell segment and the adjacent abdominal shell segment of theshrimp based at least in part on a length of the shrimp. In aspect D18according to aspect D17, the method comprises measuring a length of theshrimp before moving severing the mud vein.

In aspect D19 according to any one of aspects D16 to D18, the methodfurther comprises determining a height of the shell proximate thejunction between the fifth and sixth shell segments before moving theblade through the shrimp at the selected depth.

Peeling Apparatus

In independent aspect E1, one or more embodiments of a shrimp peelingapparatus comprise: a lower roller assembly comprising a first lowerroller, a second lower roller, and a lower roller assembly driveoperably connected to the first and second lower rollers, wherein thelower roller assembly drive is configured to rotate the first lowerroller about a first lower roller axis and rotate the second lowerroller about the second lower roller axis, wherein the first lowerroller axis is aligned with the second lower roller axis; an upperroller assembly comprising a first upper roller, a second upper roller,and an upper roller assembly drive operably connected to the first andsecond upper rollers, wherein the upper roller assembly drive isconfigured to rotate the first upper roller about a first upper rolleraxis and rotate the second upper roller about the second upper rolleraxis, wherein the first upper roller axis is aligned with the secondupper roller axis, and wherein the first upper roller extends from atail end to a head end along the first upper roller axis, and furtherwherein the second upper roller extends from a tail end to a head endalong the second upper roller axis; a roller shuttle configured to moveone or both of the lower roller assembly and the upper roller assemblybetween a receiving position and an operating position, wherein thelower roller assembly and the upper roller assembly are located fartherfrom each other in a direction transverse to the first lower roller axisand the first upper roller axis when the lower roller assembly and theupper roller assembly are in the receiving position than when the lowerroller assembly and the upper roller assembly are in the operatingposition; and a controller operably connected to the lower rollerassembly drive, upper roller assembly drive, and the roller shuttle, thecontroller configured to: operate the roller shuttle to move one or bothof the lower roller assembly and the upper roller assembly between thereceiving position and the operating position; operate the lower rollerassembly drive to rotate the first lower roller about the first lowerroller axis over a first capture arc and rotate the second lower rollerabout the second lower roller axis over a second capture arc, whereinthe first lower roller and second lower roller rotate in oppositedirections over their respective capture arcs; operate the rollershuttle to move the lower roller assembly and the upper roller assemblyfrom the receiving position to the operating position after rotating thefirst lower roller and second lower roller in opposite directions overtheir respective capture arcs; operate the upper roller assembly driveto rotate the first upper roller about the first upper roller axis overa first peeling arc and rotate the second upper roller about the secondlower roller axis over a second peeling arc, wherein the first upperroller and the second upper roller rotate in opposite directions overtheir respective peeling arcs after the roller shuttle moves the lowerroller assembly and the upper roller assembly from the receivingposition to the operating position; and operate the lower rollerassembly drive to rotate the first lower roller about the first lowerroller axis over a first removal arc and rotate the second lower rollerabout the second lower roller axis over a second removal arc, whereinthe first lower roller and the second lower roller rotate in oppositedirections over their respective removal arcs while the lower rollerassembly and the upper roller assembly are in the operating position;wherein the controller is configured to operate upper roller assemblydrive to rotate the upper first and second upper rollers in oppositedirections over their respective peeling arcs while operating the lowerroller assembly drive to rotate the first and second lower rollers inopposite directions over their respective removal arcs.

In aspect E2 according to aspect E1, the first lower roller comprises afirst lower roller outer surface comprising raised features that definea first inner diameter and a first outer diameter, wherein the secondlower roller comprises a second lower roller outer surface comprisingraised features that define a second inner diameter and a second outerdiameter, wherein the first and second lower roller outer surfacesoverlap between the first and second lower rollers such that the secondouter diameter is located between the first inner and outer diametersbetween the first and second lower rollers.

In aspect E3 according to any one of aspects E1 to E2, the first lowerroller comprises a plurality of ribs extending outward away from thefirst lower roller axis, wherein the plurality of ribs extend along alength of the first lower roller. In aspect E4 according to aspect E3,the plurality of ribs extend along the length of the first roller in adirection aligned with the first lower roller axis.

In aspect E5 according to any one of aspects E3 to E4, the plurality ofribs are constructed of a resilient elastomeric material.

In aspect E6 according to any one of aspects E1 to E5, the second lowerroller comprises a second plurality of ribs extending outward away fromthe second lower roller axis, wherein the second plurality of ribsextend along a length of the second lower roller.

In aspect E7 according to aspect E6, the second plurality of ribs extendalong the length of the second roller in a direction aligned with thesecond lower roller axis.

In aspect E8 according to any one of aspects E6 to E7, the secondplurality of ribs are constructed of a resilient elastomeric material.

In aspect E9 according to any one of aspects E1 to E8, the capture arcis equal to or smaller than the removal arc.

In aspect E11) according to any one of aspects E1 to E9, the first upperroller comprises a plurality of shell engagement pins protrudingoutwardly from the first upper roller.

In aspect E11 according to aspect E10, the plurality of pins extendoutwardly from at least one recess formed into an outer surface of thefirst upper roller, wherein an outer diameter of the first upper rolleroutside of the at least one recess is greater than an outer diameter ofthe first upper roller within the at least one recess.

In aspect E12 according to any one of aspects E11) to E11, a surfacearea density of the plurality of shell engagement pins increases whenmoving along the first upper roller axis from the head end to the tailend of the first upper roller. In aspect E13 according to any one ofaspects E12, the plurality of shell engagement pins are arranged in apair of rows on the first upper roller, wherein a first row of the pairof rows is aligned with the first upper roller axis and extends from thetail end towards the head end over 80% or less, 70% or less, 60% orless, 50% or less, 40% or less, or 30% or less of a length of the firstupper roller as measured from the head end to the tail end of the firstupper roller. In aspect E14 according to aspect E13, a second row of thepair of rows comprises shell engagement pins that extend over 50% ormore, 60% or more, 70% or more, 80% or more, 90% or more, orsubstantially all of a length of the first upper roller as measured fromthe head end to the tail end of the first upper roller.

In aspect E15 according to any one of aspects E13 to E14, a spacingbetween the shell engagement pins in at least one row of the pair ofrows decreases when moving from the head end towards the tail end of thefirst upper roller over at least a portion of the at least one row.

In aspect E16 according to any one of aspects E10 to E15, the shellengagement pins comprise tapered bodies comprising a cross-sectionalarea that decreases when moving away from the first upper roller axis.

In aspect E17 according to any one of aspects E11) to E16, the secondupper roller comprises a second plurality of shell engagement pinsprotruding outwardly from the second upper roller. In aspect E18according to aspect E17, the second plurality of pins extend outwardlyfrom at least one recess formed into an outer surface of the secondupper roller, wherein an outer diameter of the second upper rolleroutside of the at least one recess is greater than an outer diameter ofthe second upper roller within the at least one recess.

In aspect E19 according to any one of aspects E17 to E18, a surface areadensity of the second plurality of shell engagement pins increases whenmoving along the second upper roller axis from the head end to the tailend of the second upper roller. In aspect E20 according to aspect E19,the second plurality of shell engagement pins are arranged in a pair ofrows on the second upper roller, wherein a first row of the pair of rowsis aligned with the second upper roller axis and extends from the tailend towards the head end over 80% or less, 70% or less, 60% or less, or50% or less, 40% or less, or 30% or less of a length of the second upperroller as measured from the head end to the tail end of the second upperroller. In aspect E21 according to aspect E20, a second row of the pairof rows comprises shell engagement pins that extend over 50% or more,60% or more, 70% or more, 80% or more, 90% or more, or substantially allof a length of the second upper roller as measured from the head end tothe tail end of the second upper roller.

In aspect E22 according to any one of aspects E20 to E21, a spacingbetween the shell engagement pins of the second plurality of shellengagement pins in at least one row of the pair of rows decreases whenmoving from the head end towards the tail end of the second upper rollerover at least a portion of the at least one row.

In aspect E23 according to any one of aspects E17 to E22, the shellengagement pins comprise tapered bodies comprising a cross-sectionalarea that decreases when moving away from the second upper roller axis.

In aspect E24 according to any one of aspects E1 to E23, the first upperroller comprises a frusto-conical body that tapers when moving from thetail end of the first upper roller towards the head end of the firstupper roller. In aspect E25 according to aspect E24, the frusto-conicalbody defines an apex angle of 10 degrees or less, 8 degrees or less, 6degrees or less, 4 degrees or less, or 2 degrees or less.

In aspect E26 according to any one of aspects E1 to E25, the secondupper roller comprises a frusto-conical body that tapers when movingfrom the tail end of the second upper roller towards the head end of thesecond upper roller. In aspect E27 according to aspect E26, thefrusto-conical body of the second upper roller defines an apex angle of10 degrees or less, 8 degrees or less, 6 degrees or less, 4 degrees orless, or 2 degrees or less.

In aspect E28 according to any one of aspects E1 to E27, the rollershuttle comprises a force-limited drive configured to stop movement ofone or both of the lower roller assembly and the upper roller assemblyfrom the receiving position to the operating position when the upperroller assembly contacts a shrimp located between the upper rollerassembly and the lower roller assembly.

In aspect E29 according to any one of aspects E1 to E28, the rollershuttle moves the upper roller assembly when moving the lower rollerassembly and the upper roller assembly from the receiving position tothe operating position.

In aspect E30 according to any one of aspects E1 to E29, the first upperroller axis and the first lower roller axis form a first angle, whereinthe first angle is greater than 0 degrees, 1 degree or more, 2 degreesor more, or 3 degrees or more.

In aspect E31 according to any one of aspects E1 to E30, the secondupper roller axis and the second lower roller axis form a second angle,wherein the second angle is greater than 0 degrees, 1 degree or more, 2degrees or more, or 3 degrees or more.

In aspect E32 according to any one of aspects E1 to E29, the first upperroller axis and the first lower roller axis form a first angle, whereinthe second upper roller axis and the second lower roller axis form asecond angle, and wherein each of the first and second angles is greaterthan 0 degrees, 1 degree or more, 2 degrees or more, or 3 degrees ormore.

In aspect E33 according to any one of aspects E1 to E32, the first upperroller axis and the second upper roller axis are aligned with eachother.

In aspect E34 according to any one of aspects E1 to E33, the first lowerroller axis and the second lower roller axis are aligned with eachother.

In aspect E35 according to any one of aspects E1 to E34, the controlleris configured to operate the roller shuttle to move the lower rollerassembly and the upper roller assembly to the receiving position fromthe operating position after operating the upper roller assembly driveto rotate the upper first and second upper rollers in oppositedirections over their respective peeling arcs while operating the lowerroller assembly drive to rotate the first and second lower rollers inopposite directions over their respective removal arcs. In aspect E36according to aspect E35, the controller is configured to operate theupper roller assembly to rotate the first upper roller about the firstupper roller axis over a cleaning arc and to rotate the second upperroller about the second upper roller axis over a cleaning arc afteroperating the roller shuttle to move the lower roller assembly and theupper roller assembly to the receiving position from the operatingposition after operating the upper roller assembly drive to rotate theupper first and second upper rollers in opposite directions over theirrespective peeling arcs while operating the lower roller assembly driveto rotate the first and second lower rollers in opposite directions overtheir respective removal arcs.

In aspect E37 according to any one of aspects E1 to E36, the first lowerroller and the second lower roller each comprise a tail end and a headend, wherein the tail ends of the first and second lower rollers arelocated proximate the tail ends of the first and second upper rollersand wherein the head ends of the first and second lower rollers areproximate the head ends of the first and second upper rollers, andwherein the apparatus comprises a working surface located adjacent thetail ends of the first and second lower rollers, wherein the workingsurface adjacent the tail ends of the first and second rollers is offsetfrom the tail ends of the first and second lower rollers such that thetail end of the first lower roller is located closer to the tail end ofthe first upper roller than the working surface as measured in adirection transverse to the first lower roller axis, and wherein thetail end of the second lower roller is located closer to the tail end ofthe second upper roller than the working surface as measured in adirection transverse to the second lower roller axis.

In aspect E38 according to any one of aspects E1 to E37, the first lowerroller and the second lower roller each comprise a tail end and a headend, wherein the tail ends of the first and second lower rollers arelocated proximate the tail ends of the first and second upper rollersand wherein the head ends of the first and second lower rollers areproximate the head ends of the first and second upper rollers, andwherein the apparatus further comprises: a working surface locatedadjacent the tail ends of the first and second lower rollers, theworking surface; and a compression arm configured to move between araised position and a compression position, wherein the compression armcomprises a working end located closer to the working surface when thecompression arm is in the compression position than when the compressionarm is in the raised position. In aspect E39 according to aspect E38,the compression arm is operably connected to the roller shuttle suchthat the compression arm is in the raised position when the lower rollerassembly and the upper roller assembly are in the receiving position,and wherein the compression arm is in the compression position when thelower roller assembly and the upper roller assembly are in the operatingposition.

Independent aspect E40 is a method of peeling a shrimp using theapparatus of any one of aspects E1 to E39.

Peeling (Pleopod/Swimmeret Removal) Apparatus

In independent aspect F1, one or more embodiments of a shrimp processingapparatus comprise: a lower roller assembly comprising a first lowerroller, a second lower roller, and a lower roller assembly driveoperably connected to the first and second lower rollers, wherein thelower roller assembly drive is configured to rotate the first lowerroller about a first lower roller axis and rotate the second lowerroller about the second lower roller axis, wherein the first lowerroller axis is aligned with the second lower roller axis; an upperassembly; a roller shuttle configured to move one or both of the lowerroller assembly and the upper assembly between a receiving position andan operating position, wherein the lower roller assembly and the upperassembly are located farther from each other in a direction transverseto the first lower roller axis and the first upper roller axis when thelower roller assembly and the upper assembly are in the receivingposition than when the lower roller assembly and the upper assembly arein the operating position; and a controller operably connected to thelower roller assembly drive and the roller shuttle, the controllerconfigured to: operate the roller shuttle to move one or both of thelower roller assembly and the upper assembly between the receivingposition and the operating position; operate the lower roller assemblydrive to rotate the first lower roller about the first lower roller axisover a first capture arc and rotate the second lower roller about thesecond lower roller axis over a second capture arc, wherein the firstlower roller and second lower roller rotate in opposite directions overtheir respective capture arcs; operate the roller shuttle to move thelower roller assembly and the upper assembly from the receiving positionto the operating position after rotating the first lower roller andsecond lower roller in opposite directions over their respective capturearcs; and operate the lower roller assembly drive to rotate the firstlower roller about the first lower roller axis over a first removal arcand rotate the second lower roller about the second lower roller axisover a second removal arc, wherein the first lower roller and the secondlower roller rotate in opposite directions over their respective removalarcs while the lower roller assembly and the upper assembly are in theoperating position.

In aspect F2 according to aspect F1, the first lower roller comprises afirst lower roller outer surface comprising raised features that definea first inner diameter and a first outer diameter, wherein the secondlower roller comprises a second lower roller outer surface comprisingraised features that define a second inner diameter and a second outerdiameter, wherein the first and second lower roller outer surfacesoverlap between the first and second lower rollers such that the secondouter diameter is located between the first inner and outer diametersbetween the first and second lower rollers.

In aspect F3 according to any one of aspects F1 to F2, the first lowerroller comprises a plurality of ribs extending outward away from thefirst lower roller axis, wherein the plurality of ribs extend along alength of the first lower roller. In aspect F4 according to aspect F3,the plurality of ribs extend along the length of the first roller in adirection aligned with the first lower roller axis. In aspect F5according to any one of aspects F3 to F4, the plurality of ribs areconstructed of a resilient elastomeric material.

In aspect F6 according to any one of aspects F1 to F5, the second lowerroller comprises a second plurality of ribs extending outward away fromthe second lower roller axis, wherein the second plurality of ribsextend along a length of the second lower roller. In aspect F7 accordingto aspect F6, the second plurality of ribs extend along the length ofthe second roller in a direction aligned with the second lower rolleraxis. In aspect F8 according to any one of aspects F6 to F7, the secondplurality of ribs are constructed of a resilient elastomeric material.

In aspect F9 according to any one of aspects F1 to F8, the capture arcis equal to or smaller than the removal arc.

In aspect F10 according to any one of aspects F1 to F9, the rollershuttle comprises a force-limited drive configured to stop movement ofthe lower roller assembly and the upper assembly from the receivingposition to the operating position when the upper assembly contacts ashrimp located between the upper assembly and the lower roller assembly.

In aspect F11 according to any one of aspects F1 to F10, the rollershuttle moves the upper assembly when moving the lower roller assemblyand the upper assembly from the receiving position to the operatingposition.

In aspect F12 according to any one of aspects F1 to F11, the controlleris configured to operate the roller shuttle to move the lower rollerassembly and the upper assembly to the receiving position from theoperating position after operating the lower roller assembly drive torotate the first lower roller about the first lower roller axis over thefirst capture arc and rotate the second lower roller about the secondlower roller axis over the second capture arc. In aspect F13 accordingto aspect F12, the controller is configured to operate the lower rollerassembly drive to rotate the first lower roller about the first lowerroller axis over the first removal arc and to rotate the second lowerroller about the second lower roller axis over the second removal arcafter operating the roller shuttle to move the lower roller assembly andthe upper assembly to the receiving position from the operatingposition.

In aspect F14 according to any one of aspects F1 to F13, the first lowerroller and the second lower roller each extend from a tail end to a headend along the first and second lower roller axes, and wherein theapparatus comprises a working surface located adjacent the tail ends ofthe first and second lower rollers, wherein the working surface adjacentthe tail ends of the first and second rollers is offset from the tailends of the first and second lower rollers such that the tail end of thefirst lower roller is located closer to the upper assembly than theworking surface as measured in a direction transverse to the first lowerroller axis, and wherein the tail end of the second lower roller islocated closer to the upper assembly than the working surface asmeasured in a direction transverse to the second lower roller axis.

In aspect F15 according to any one of aspects F1 to F14, the first lowerroller and the second lower roller each extend from a tail end to a headend along the first and second lower roller axes, and wherein theapparatus further comprises: a working surface located adjacent the tailends of the first and second lower rollers, the working surface; and acompression arm configured to move between a raised position and acompression position, wherein the compression arm comprises a workingend located closer to the working surface when the compression arm is inthe compression position than when the compression arm is in the raisedposition. In aspect F16 according to aspect F15, the compression arm isoperably connected to the roller shuttle such that the compression armis in the raised position when the lower roller assembly and the upperassembly are in the receiving position, and wherein the compression armis in the compression position when the lower roller assembly and theupper assembly are in the operating position.

Independent aspect F17 comprises a method of processing shrimp to removepleopods and/or swimmerets from shrimp using the apparatus of any one ofaspects F1 to F16.

Peeling Methods

In independent aspect G1, one or more embodiments of a method of peelinga shrimp comprise: capturing at least one pleopod attached to an abdomenof a shrimp between a first lower roller and a second lower roller byrotating each of the first and second lower rollers over a capture arc,wherein the first and second lower rollers are rotated in oppositedirections; contacting the abdominal shell segments of the shrimp with afirst upper roller and a second upper roller after rotating the firstand second lower rollers over their respective capture arcs; rotatingthe first upper roller over a first peeling arc and rotating the secondupper roller over a second peeling arc, wherein the first and secondupper rollers are rotated in opposite directions over their respectivepeeling arcs; and rotating the first lower roller over a first removalarc and rotating the second lower roller over a second removal arc,wherein the first lower roller and the second lower roller rotate inopposite directions over their respective removal arcs; wherein, aftercontacting the abdominal shell segments of the shrimp with a first upperroller and a second upper roller, the method comprises rotating thefirst and second upper rollers over their respective peeling arcs whilerotating the first and second lower rollers over their respectiveremoval arcs.

In aspect G2. A method according to aspect G1, rotating the first andsecond upper rollers about their peeling arcs while rotating the firstand second lower rollers about their removal arcs removes two or more ofthe abdominal shell segments and the captured pleopod from the shrimp.

In aspect G3 according to aspect G1, rotating the first and second upperrollers about their peeling arcs while rotating the first and secondlower rollers about their removal arcs removes a majority of theabdominal shell segments of the shrimp.

In aspect G4 according to any one of aspects G1 to G3, rotating thefirst and second upper rollers about their peeling arcs removes theabdominal shell segment adjacent the tail of the shrimp before removingthe remaining abdominal shell segments.

In aspect G5 according to any one of aspects G1 to G3, rotating thefirst and second upper rollers about their peeling arcs removes theabdominal shell segments from the abdomen of the shrimp beginning at thetail and moving towards the carapace of the shrimp.

In aspect G6 according to any one of aspects G2 to G5, the capturingcomprises capturing a majority of the pleopods on the shrimp, andwherein rotating the first and second lower rollers about their removalarcs removes the majority of pleopods from the shrimp.

In aspect G7 according to any one of aspects G1 to G6, the methodcomprises moving the shrimp into a peeling position between the firstand second lower rollers before rotating each of the first and secondlower rollers over their respective capture arcs.

In aspect G8 according to any one of aspects G1 to G7, before capturingthe pleopod, the method comprises aligning the pleopod attached to theabdomen of the shrimp such that the pleopod extends away from the tailof the shrimp. In aspect G9 according to aspect G8, aligning the pleopodcomprises sliding the shrimp over a plurality of bristles before theshrimp is located between the first and second lower rollers.

Pleopod/Swimmeret Removal Methods

In independent aspect H1, one or more embodiments of a method ofremoving pleopods from a shrimp comprise: capturing a plurality ofpleopods attached to an abdomen of a shrimp between a first lower rollerand a second lower roller by rotating each of the first and second lowerrollers over a capture arc, wherein the first and second lower rollersare rotated in opposite directions; contacting the abdominal shellsegments of the shrimp with an upper assembly after rotating the firstand second lower rollers over their respective capture arcs; androtating the first lower roller over a first removal arc and rotatingthe second lower roller over a second removal arc after contacting theabdominal shell segments of the shrimp with the upper assembly, whereinthe first lower roller and the second lower roller rotate in oppositedirections over their respective removal arcs.

In aspect H2 according to aspect H1, the capturing comprises capturing amajority of the pleopods on the shrimp, and wherein rotating the firstand second lower rollers about their removal arcs removes the majorityof pleopods from the shrimp.

In aspect H3 according to any one of aspects H1 to H2, the methodcomprises moving the shrimp into a peeling position between the firstand second lower rollers before rotating each of the first and secondlower rollers over their respective capture arcs.

In aspect H4 according to any one of aspects H1 to H3, before capturingthe plurality of pleopods, the method comprises aligning the pluralityof pleopods attached to the abdomen of the shrimp such that theplurality of pleopods extend away from the tail of the shrimp. In aspectH5 according to aspect H4, aligning the plurality of pleopods comprisessliding the shrimp over a plurality of bristles before the shrimp islocated between the first and second lower rollers.

Shell Segment Separator Apparatus

In independent aspect J1, one or more embodiments of a shell segmentseparator apparatus comprise: a first shell segment retainer positionedopposite a working surface; a second shell segment retainer positionedopposite the working surface; a first retainer actuator operablyconnected to the first shell segment retainer and configured to move thefirst shell segment retainer from a ready configuration to a retentionconfiguration, wherein the first shell segment retainer is configured toallow for positioning of a shrimp between the first shell segmentretainer and the working surface when the first shell segment retaineris in the ready configuration, and wherein the first shell segmentretainer is configured to retain a first shell segment of a shrimplocated between first shell segment retainer and the working surface ina selected location on the working surface when the first shell segmentretainer is in the retention configuration; a second retainer actuatoroperably connected to the second shell segment retainer and configuredto move the second shell segment retainer from a ready configuration toa retention configuration, wherein the second shell segment retainer isconfigured to allow for positioning of a shrimp between the second shellsegment retainer and the working surface when the second shell segmentretainer is in the ready configuration, and wherein the second shellsegment retainer is configured to retain a second shell segment of ashrimp located between second shell segment retainer and the workingsurface in a selected location relative to the second shell segmentretainer when the second shell segment retainer is in the retentionconfiguration; a separation actuator operably connected to the secondshell segment retainer, the separation actuator configured to move oneor both of the first shell segment retainer and the second shell segmentretainer between an initial position and a separation position relativeto each other, wherein the second shell segment retainer is locatedfurther away from the first shell segment retainer when the first shellsegment retainer and the second shell segment retainer are in theseparation position than when the first shell segment retainer and thesecond shell segment retainer are in the initial position, wherein oneor both of the first shell segment retainer and the second shell segmentretainer move along a processing axis when moving between the initialposition and the separation position; and a controller operablyconnected to the first retainer actuator, the second retainer actuator,and the separation actuator, wherein the controller is configured to:operate the first retainer actuator to move the first shell segmentretainer from the ready configuration to the retention configuration;operate the second retainer actuator to move the second shell segmentretainer from the ready configuration to the retention configuration;and operate the separation actuator to move one or both of the firstshell segment retainer and the second shell segment retainer such thatthe first shell segment retainer and the second shell segment retainermove from the initial position to the separation position afteroperating the first retainer actuator to move the first shell segmentretainer from the ready configuration to the retention configuration andafter operating the second retainer actuator to move the second shellsegment retainer from the ready configuration to the retentionconfiguration.

In aspect J2 according to aspect J1, the first shell segment retainerremains in a fixed location along the processing axis and the secondshell segment retainer moves along the processing axis when the firstshell segment retainer and the second shell segment retainer movebetween the initial position and the separation position.

In aspect J3 according to any of one of aspects J1 to J2, the initialposition and the separation position of the second shell segmentretainer are separated from each other along the processing axis by aselected separation distance.

In aspect J4 according to any one of aspects J1 to J3, the first shellsegment retainer comprises a pair of jaws, and wherein the pair of jawsare located farther apart in the ready configuration than in theretention configuration. In aspect J5 according to aspect J4, the firstretainer actuator moves at least one jaw of the pair of jaws towards theother jaw when moving the pair of jaws from the ready configuration tothe retention configuration. In aspect J6 according to aspect J4, thefirst retainer actuator moves the pair of jaws towards each other whenmoving the pair of jaws from the ready configuration to the retentionconfiguration.

In aspect J7 according to any one of aspects J4 to J6, at least one jawof the pair of jaws comprises a pin configured to pierce an abdominalshell segment of a shrimp when the first shell segment retainer is inthe retention configuration and a shrimp is located between the pair ofjaws.

In aspect J8 according to any one of aspects J4 to J6, both jaws of thepair of jaws comprise one or more pins configured to pierce an abdominalshell segment of a shrimp when the first shell segment retainer is inthe retention configuration and a shrimp is located between the pair ofjaws.

In aspect J9 according to any one of aspects J1 to J3, the first shellsegment retainer is located closer to the working surface in theretention configuration than in the ready configuration. In aspect J10according to aspect J9, the first shell segment retainer comprises oneor more pins configured to pierce an abdominal shell segment of a shrimpwhen the first shell segment retainer moves to the retentionconfiguration from the ready configuration and a shrimp is locatedbetween the first shell segment retainer and the working surface.

In aspect J11 according to any one of aspects J1 to J3, the first shellsegment retainer comprises one or more pins configured to pierce anabdominal shell segment of a shrimp when the first shell segmentretainer is in the retention configuration and a shrimp is locatedbetween the first shell segment retainer and the working surface.

In aspect J12 according to any one of aspects J1 to J11, the secondshell segment retainer comprises a pair of jaws, and wherein the pair ofjaws are located farther apart in the ready configuration than in theretention configuration. In aspect J13 according to aspect J12, thesecond retainer actuator moves at least one jaw of the pair of jawstowards the other jaw when moving the pair of jaws from the readyconfiguration to the retention configuration. In aspect J14 according toaspect J12, the second retainer actuator moves the pair of jaws towardseach other when moving the pair of jaws from the ready configuration tothe retention configuration.

In aspect J15 according to any one of aspects J12 to J14, at least onejaw of the pair of jaws of the second shell segment retainer comprises apin configured to pierce an abdominal shell segment of a shrimp when thesecond shell segment retainer is in the retention configuration and ashrimp is located between the pair of jaws.

In aspect J16 according to any one of aspects J12 to J14, both jaws ofthe pair of jaws of the second shell segment retainer comprise one ormore pins configured to pierce an abdominal shell segment of a shrimpwhen the second shell segment retainer is in the retention configurationand a shrimp is located between the pair of jaws.

In aspect J17 according to any one of aspects J1 to J11, the secondshell segment retainer is located closer to the working surface in theretention configuration than in the ready configuration. In aspect J18according to aspect J17, the second shell segment retainer comprises oneor more pins configured to pierce an abdominal shell segment of a shrimpwhen the second shell segment retainer moves to the retentionconfiguration from the ready configuration and a shrimp is locatedbetween the second shell segment retainer and the working surface.

In aspect J19 according to any one of aspects J1 to J11, the secondshell segment retainer comprises one or more pins configured to piercean abdominal shell segment of a shrimp when the second shell segmentretainer is in the retention configuration and a shrimp is locatedbetween the second shell segment retainer and the working surface.

Independent aspect J20 comprises methods of separating adjacent shellsegments on an abdomen of a shrimp using an apparatus according to anyone of aspects J1 to J19.

Shell Segment Separation Methods

In independent aspect K1, one or more embodiments of a method ofseparating adjacent shell segments on an abdomen of a shrimp comprises:retaining a first shell segment on an abdomen of a shrimp, wherein thefirst shell segment is optionally retained in a fixed location relativeto a processing axis, and wherein the abdomen of the shrimp is alignedwith the processing axis; and moving a second shell segment on theabdomen of the shrimp away from the first shell segment in a directionaligned with the processing axis while, optionally, retaining the firstshell segment in the fixed location, wherein the second shell segment isadjacent the first shell segment; wherein the first shell segment andthe second shell segment remain attached to the abdomen of the shrimpafter moving the second shell segment away from the first shell segment.

In aspect K2 according to aspect K1, moving the second shell segmentcomprises moving the second shell segment a selected separation distancealong the processing axis.

In aspect K3 according to any one of aspects K1 and K2, the first shellsegment comprises a rearmost abdominal shell segment of the shrimp, therearmost abdominal shell segment is located between the second shellsegment and the tail of the shrimp. In aspect K4 according to aspect K3,in a shrimp having six abdominal shell segments, the rearmost abdominalshell segment comprises the sixth abdominal shell segment and the secondshell segment comprises the fifth abdominal shell segment.

In aspect K5 according to any one of aspects K1 to K4, retaining thefirst shell segment in the fixed location comprises closing a pair ofjaws on the first shell segment. In aspect K6 according to aspect K5,closing the pair of jaws on the first shell segment comprises piercingthe first shell segment with one or more pins.

In aspect K7 according to any one of aspects K1 to K4, retaining thefirst shell segment in the fixed location comprises piercing the firstshell segment with one or more pins. In aspect K8 according to aspectK7, retaining the first shell segment in the fixed location comprisescompressing the abdomen within the first shell segment against a workingsurface before or after piercing the first shell segment with one ormore pins.

In aspect K9 according to any one of aspects K1 to K8, the methodcomprises closing a pair of jaws on the second shell segment beforemoving the second shell segment away from the first shell segment. Inaspect K10 according to aspect K9, closing the pair of jaws on thesecond shell segment comprises piercing the second shell segment withone or more pins.

In aspect K11 according to any one of aspects K1 to K8, the methodcomprises piercing the second shell segment with one or more pins beforemoving the second shell segment away from the first shell segment. Inaspect K12 according to aspect K11, the method comprises compressing theabdomen within the second shell segment against a working surface beforeor after piercing the second shell segment with one or more pins.

Any references and publications cited herein are expressly incorporatedherein by reference in their entirety into this disclosure, except tothe extent they may directly contradict this disclosure. Althoughspecific illustrative embodiments have been described herein, it will beappreciated by those of ordinary skill in the art that a variety ofalternate and/or equivalent implementations can be substituted for thespecific embodiments shown and described without departing from thescope of the present disclosure. It should be understood that thisdisclosure is not intended to be unduly limited by the illustrativeembodiments and examples set forth herein and that such examples andembodiments are presented by way of example only with the scope of thedisclosure intended to be limited only by the claims.

1. A shrimp processing system comprising: a plurality of clamps, whereineach clamp of the plurality of clamps is configured to hold a shrimpproximate a tail of the shrimp; a plurality of processing stationscomprising at least one data collection station capable of collectingdata regarding a shrimp held in each clamp of the plurality of clampsand at least one functional station capable of changing the shrimp heldin each clamp of the plurality of clamps; a conveying system connectingthe plurality of processing stations, the conveying system configured tomove the plurality of clamps between the plurality of processingstations; and a controller operably connected to the conveying systemand the plurality of processing stations, the controller configured to:operate the conveying system such that the plurality of clamps are movedthrough the plurality of processing stations; and selectively activateeach processing station of the plurality of processing stations; whereineach clamp of the plurality of clamps comprises: a pair of jawspositioned on a base, wherein the pair of jaws comprises a first jaw anda second jaw facing each other across a clamping axis extending betweenthe first jaw and the second jaw, wherein the first jaw comprises afirst jaw face and the second jaw comprises a second jaw face, whereinthe first jaw face faces the second jaw face along the clamping axis,wherein the first jaw face and the second jaw face define a receivingslot between the first jaw face and the second jaw face, wherein adistance between the first jaw face and the second jaw face across thereceiving slot in a direction aligned with the clamping axis narrowswhen moving away from the base between the first jaw face and the secondjaw face along a compression axis, wherein the compression axis extendsthrough the base between the first jaw face and the second jaw face; anda spring member operably attached to the first jaw, the spring memberconfigured to resist movement of the first jaw away from the second jawalong the clamping axis and the spring member configured to resistmovement of the first jaw away from the base along a compressiondirection aligned with the compression axis, wherein a shrimp locatedbetween the pair of jaws is compressed against the base between the pairof jaws by the spring member and the first jaw.
 2. A system according toclaim 1, wherein the plurality of clamps are magnetically attached tothe conveying system.
 3. A system according to claim 1, wherein theconveying system comprises a plurality of clamp mounts, wherein theplurality of clamps are attached to the conveying system through theplurality of clamp mounts. 4-11. (canceled)
 12. A system according toclaim 1, wherein the conveying system advances the plurality of clampsfrom a loading end to an ejection end, and wherein the conveying systemcomprises an ejection station at the ejection end, the ejection stationconfigured to eject shrimp held in the plurality of clamps from theplurality of clamps.
 13. A system according to claim 12, wherein theejection station comprises a plurality plungers, wherein each plunger ofthe plurality of plungers comprises a retracted position an ejectionposition, and wherein movement of the plunger from the retractedposition to the ejection position in the presence of a shrimp held in aclamp at the ejection station forces the shrimp from the clamp.
 14. Asystem according to claim 13, wherein the plunger is configured to acton an abdominal segment adjacent the clamp.
 15. (canceled)
 17. A systemaccording to claim 1, wherein a functional station of the plurality ofprocessing stations comprises a mud vein severing apparatus configuredto sever a mud vein of a shrimp.
 18. A system according to claim 1,wherein a functional station of the plurality of processing stationscomprises a heading apparatus configured to remove a head of a shrimp.19. A system according to claim 1, wherein a functional station of theplurality of processing stations comprises a peeling apparatusconfigured to remove a shell of a shrimp. 20-28. (canceled)
 29. A methodof processing shrimp, the method comprising: loading individual shrimpinto each clamp of a plurality of clamps to provide a plurality ofloaded clamps, wherein each loaded clamp restrains only one individualshrimp at a time; transporting each loaded clamp between a plurality ofprocessing stations using a conveying system connecting the plurality ofprocessing stations; collecting data on each shrimp in the plurality ofloaded clamps in at least one processing station of the plurality ofprocessing stations; and performing one or more actions on each shrimpin the plurality of loaded clamps in at least one processing station ofthe plurality of processing stations. 30-43. (canceled)
 44. A clampconfigured to restrain a shrimp, the clamp comprising: a pair of jawspositioned on a base, wherein the pair of jaws comprises a first jaw anda second jaw facing each other across a clamping axis extending betweenthe first jaw and the second jaw, wherein the first jaw comprises afirst jaw face and the second jaw comprises a second jaw face, whereinthe first jaw face faces the second jaw face along the clamping axis,wherein the first jaw face and the second jaw face define a receivingslot between the first jaw face and the second jaw face, wherein adistance between the first jaw face and the second jaw face across thereceiving slot in a direction aligned with the clamping axis narrowswhen moving away from the base between the first jaw face and the secondjaw face along a compression axis, wherein the compression axis extendsthrough the base between the first jaw face and the second jaw face; anda spring member operably attached to the first jaw, the spring memberconfigured to resist movement of the first jaw away from the second jawalong the clamping axis and the spring member configured to resistmovement of the first jaw away from the base along a compressiondirection aligned with the compression axis, wherein a shrimp locatedbetween the pair of jaws is compressed against the base between the pairof jaws by the spring member and the first jaw.
 45. A clamp according toclaim 44, wherein the clamp further comprises a body attached to thebase, and wherein the spring member comprises an arm extending betweenthe first jaw and the body, the arm configured to provide a compressionforce to the first jaw in response to movement of the first jaw awayfrom the base in a direction aligned with the compression axis.
 46. Aclamp according to claim 44, wherein the clamp further comprises a bodyattached to the base, and wherein the spring member comprises an armextending between the first jaw and the body, the arm configured toprovide a clamping force to the first jaw in response to movement of thefirst jaw away from the second jaw along the clamping axis.
 47. A clampaccording to claim 44, wherein the clamp further comprises a bodyattached to the base, and wherein the spring member comprises an armextending between the first jaw and the body, the arm configured toprovide a compression force to the first jaw in response to movement ofthe first jaw away from the base in a direction aligned with thecompression axis, and the arm configured to provide a clamping force tothe first jaw in response to movement of the first jaw away from thesecond jaw along the clamping axis. 48-49. (canceled)
 50. A clampaccording to claim 44, wherein the spring member operably attached tothe first jaw comprises a first spring member and the clamp comprises asecond spring member operably attached to the second jaw, the secondspring member configured to resist movement of the second jaw away fromthe first jaw along the clamping axis and the second spring memberconfigured to resist movement of the second jaw away from the base alongthe compression direction aligned with the compression axis, wherein atail of a shrimp located between the pair of jaws is forced against thebase between the pair of jaws by the first spring member, the first jaw,the second spring member, and the second jaw.
 51. A clamp according toclaim 50, wherein the clamp further comprises a body attached to thebase, and wherein the second spring member comprises an arm extendingbetween the second first jaw and the body, the arm of the second springmember configured to provide a compression force to the second jaw inresponse to movement of the second jaw away from the base in a directionaligned with the compression axis.
 52. A clamp according to claim 50,wherein the clamp further comprises a body attached to the base, andwherein the second spring member comprises an arm extending between thesecond jaw and the body, the arm of the second spring member configuredto provide a clamping force to the second jaw in response to movement ofthe second jaw away from the first jaw along the clamping axis.
 53. Aclamp according to claim 50, wherein the clamp further comprises a bodyattached to the base, and wherein the second spring member comprises anarm extending between the second jaw and the body, the arm of the secondspring member configured to provide a compression force to the secondjaw in response to movement of the second jaw away from the base in adirection aligned with the compression axis, and the arm of the secondspring member configured to provide a clamping force to the second jawin response to movement of the second jaw away from the first jaw alongthe clamping axis. 54-55. (canceled)
 56. A clamp according to claim 45,wherein a distance between the body and the receiving slot in adirection transverse to the clamping axis is selected to allow the tailof a shrimp captured in the clamp to be positioned between the receivingslot and the body.
 57. A clamp according to claim 45, wherein a distancebetween the body and the receiving slot in a direction transverse to theclamping axis is 4 or more times a slot width measured at a midpointbetween the base and the narrowest portion of the receiving slot asmeasured along the clamping axis direction.
 58. A method of restraininga shrimp, the method comprising: providing a clamp comprising a firstjaw and a second jaw positioned on a base, wherein the first jaw facesthe second jaw, and wherein the first jaw and the second jaw define areceiving slot between the first jaw and the second jaw; inserting ashrimp into the receiving slot between the first and second jaws suchthat the tail of the shrimp is located on a clamp side of the first andsecond jaws and the carapace of the shrimp is located on a processingside of the first and second jaws; forcing the tail of the shrimptowards the base using the first jaw after inserting the shrimp into thereceiving slot between the first and second jaws.
 59. A method accordingto claim 58, wherein forcing the tail of the shrimp towards the baseusing the first jaw causes the tail to form a splayed tail fan on theclamp side of the first and second jaws.
 60. A method according to claim58, wherein forcing the tail of the shrimp towards that base using thefirst jaw comprises applying a persistent compressive force on theshrimp in a compression direction aligned with a compression axis extendthrough base and the receiving slot between the first and second jawsusing the first jaw after inserting the shrimp into the receiving slot.61. (canceled)
 62. A method according to claim 58, wherein forcing thetail of the shrimp towards the base using the first jaw comprisesapplying a persistent compressive force on the shrimp in a compressiondirection aligned with a compression axis extend through base and thereceiving slot between the first and second jaws using the first jaw andthe second jaw after inserting the shrimp into the receiving slot.
 63. Amethod according to claim 58, wherein the method comprises applying apersistent clamping force on the shrimp along a clamping directionaligned with a clamping axis extending through the first and second jawsusing the first jaw after inserting the shrimp into the receiving slot.64. (canceled)
 65. A method according to claim 58, wherein the methodcomprises applying a persistent clamping force on the shrimp along aclamping direction aligned with a clamping axis extending through thefirst and second jaws using the first jaw and the second jaw afterinserting the shrimp into the receiving slot.
 66. A method according toclaim 58, wherein the clamp comprises a body, and wherein the first jawis connected to the body through a first arm, and wherein the first jawrotates about a first rotation axis located above the base extendingbetween the first jaw and the body when inserting a shrimp into thereceiving slot. 67-75. (canceled)